diff --git a/RobotModelRBDL_8cpp.html b/RobotModelRBDL_8cpp.html
index 703f7acc..36f02a73 100644
--- a/RobotModelRBDL_8cpp.html
+++ b/RobotModelRBDL_8cpp.html
@@ -74,6 +74,7 @@
 <code>#include &lt;rbdl/rbdl_utils.h&gt;</code><br />
 <code>#include &lt;rbdl/addons/urdfreader/urdfreader.h&gt;</code><br />
 <code>#include &lt;base-logging/Logging.hpp&gt;</code><br />
+<code>#include &lt;tinyxml2.h&gt;</code><br />
 </div><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="namespaces" name="namespaces"></a>
 Namespaces</h2></td></tr>
diff --git a/RobotModelRBDL_8hpp_source.html b/RobotModelRBDL_8hpp_source.html
index ba4b856a..c83b78b6 100644
--- a/RobotModelRBDL_8hpp_source.html
+++ b/RobotModelRBDL_8hpp_source.html
@@ -125,28 +125,28 @@
 <div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span><span class="preprocessor">#endif</span></div>
 <div class="ttc" id="aRobotModel_8hpp_html"><div class="ttname"><a href="RobotModel_8hpp.html">RobotModel.hpp</a></div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html">wbc::RobotModelRBDL</a></div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:9</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a29251a89e6008aec560262d6e226c55d"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a29251a89e6008aec560262d6e226c55d">wbc::RobotModelRBDL::biasForces</a></div><div class="ttdeci">virtual const base::VectorXd &amp; biasForces()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:380</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a2b56e9f68532901ee01ce08bf95f5091"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a2b56e9f68532901ee01ce08bf95f5091">wbc::RobotModelRBDL::systemState</a></div><div class="ttdeci">virtual void systemState(base::VectorXd &amp;q, base::VectorXd &amp;qd, base::VectorXd &amp;qdd)</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:204</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a2f0c7c8a5ac0923a26c59f9bba14e65e"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a2f0c7c8a5ac0923a26c59f9bba14e65e">wbc::RobotModelRBDL::computeInverseDynamics</a></div><div class="ttdeci">virtual void computeInverseDynamics(base::commands::Joints &amp;solver_output)</div><div class="ttdoc">Compute and return the inverse dynamics solution.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:412</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a3ef1a035e80651a0d3fde5f8ecf0d10d"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a3ef1a035e80651a0d3fde5f8ecf0d10d">wbc::RobotModelRBDL::configure</a></div><div class="ttdeci">virtual bool configure(const RobotModelConfig &amp;cfg)</div><div class="ttdoc">Load and configure the robot model.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:26</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a566a860be78e1fe471ac9246169f3dd6"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a566a860be78e1fe471ac9246169f3dd6">wbc::RobotModelRBDL::rigidBodyState</a></div><div class="ttdeci">virtual const base::samples::RigidBodyStateSE3 &amp; rigidBodyState(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Computes and returns the relative transform between the two given frames. By convention this is the p...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:210</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a29251a89e6008aec560262d6e226c55d"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a29251a89e6008aec560262d6e226c55d">wbc::RobotModelRBDL::biasForces</a></div><div class="ttdeci">virtual const base::VectorXd &amp; biasForces()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:381</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a2b56e9f68532901ee01ce08bf95f5091"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a2b56e9f68532901ee01ce08bf95f5091">wbc::RobotModelRBDL::systemState</a></div><div class="ttdeci">virtual void systemState(base::VectorXd &amp;q, base::VectorXd &amp;qd, base::VectorXd &amp;qdd)</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:205</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a2f0c7c8a5ac0923a26c59f9bba14e65e"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a2f0c7c8a5ac0923a26c59f9bba14e65e">wbc::RobotModelRBDL::computeInverseDynamics</a></div><div class="ttdeci">virtual void computeInverseDynamics(base::commands::Joints &amp;solver_output)</div><div class="ttdoc">Compute and return the inverse dynamics solution.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:413</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a3ef1a035e80651a0d3fde5f8ecf0d10d"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a3ef1a035e80651a0d3fde5f8ecf0d10d">wbc::RobotModelRBDL::configure</a></div><div class="ttdeci">virtual bool configure(const RobotModelConfig &amp;cfg)</div><div class="ttdoc">Load and configure the robot model.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:27</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a566a860be78e1fe471ac9246169f3dd6"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a566a860be78e1fe471ac9246169f3dd6">wbc::RobotModelRBDL::rigidBodyState</a></div><div class="ttdeci">virtual const base::samples::RigidBodyStateSE3 &amp; rigidBodyState(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Computes and returns the relative transform between the two given frames. By convention this is the p...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:211</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a5c677af4ec58b26a8e8815f8a564b70c"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a5c677af4ec58b26a8e8815f8a564b70c">wbc::RobotModelRBDL::q</a></div><div class="ttdeci">Eigen::VectorXd q</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:14</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a6638815f2295b5caa6266abfb9ab0670"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a6638815f2295b5caa6266abfb9ab0670">wbc::RobotModelRBDL::~RobotModelRBDL</a></div><div class="ttdeci">virtual ~RobotModelRBDL()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:17</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a6638815f2295b5caa6266abfb9ab0670"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a6638815f2295b5caa6266abfb9ab0670">wbc::RobotModelRBDL::~RobotModelRBDL</a></div><div class="ttdeci">virtual ~RobotModelRBDL()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:18</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a7a4258a8a04c14232ea1262851287918"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a7a4258a8a04c14232ea1262851287918">wbc::RobotModelRBDL::qd</a></div><div class="ttdeci">Eigen::VectorXd qd</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:14</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a7f4c19dfaf20907dd8e7799d5f34e07a"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a7f4c19dfaf20907dd8e7799d5f34e07a">wbc::RobotModelRBDL::spaceJacobian</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; spaceJacobian(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobi...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:245</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a7fb8564005b8d77c89728c9af44d2214"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a7fb8564005b8d77c89728c9af44d2214">wbc::RobotModelRBDL::RobotModelRBDL</a></div><div class="ttdeci">RobotModelRBDL()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:13</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a8c4b4ed5003e1fe5625794906ba7a241"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a8c4b4ed5003e1fe5625794906ba7a241">wbc::RobotModelRBDL::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:21</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a8d4b3c43f856a3db5136568cf56a3532"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a8d4b3c43f856a3db5136568cf56a3532">wbc::RobotModelRBDL::comJacobian</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; comJacobian()</div><div class="ttdoc">Returns the CoM Jacobian for the entire robot, which maps the robot joint velocities to linear spatia...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:315</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a8fac8cee797f749503b70a9a5dd97478"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a8fac8cee797f749503b70a9a5dd97478">wbc::RobotModelRBDL::jacobianDot</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; jacobianDot(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Returns the derivative of the Jacobian for the kinematic chain between root and the tip frame as full...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:338</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a7f4c19dfaf20907dd8e7799d5f34e07a"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a7f4c19dfaf20907dd8e7799d5f34e07a">wbc::RobotModelRBDL::spaceJacobian</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; spaceJacobian(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Returns the Space Jacobian for the kinematic chain between root and the tip frame as full body Jacobi...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:246</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a7fb8564005b8d77c89728c9af44d2214"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a7fb8564005b8d77c89728c9af44d2214">wbc::RobotModelRBDL::RobotModelRBDL</a></div><div class="ttdeci">RobotModelRBDL()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:14</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a8c4b4ed5003e1fe5625794906ba7a241"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a8c4b4ed5003e1fe5625794906ba7a241">wbc::RobotModelRBDL::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:22</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a8d4b3c43f856a3db5136568cf56a3532"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a8d4b3c43f856a3db5136568cf56a3532">wbc::RobotModelRBDL::comJacobian</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; comJacobian()</div><div class="ttdoc">Returns the CoM Jacobian for the entire robot, which maps the robot joint velocities to linear spatia...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:316</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a8fac8cee797f749503b70a9a5dd97478"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a8fac8cee797f749503b70a9a5dd97478">wbc::RobotModelRBDL::jacobianDot</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; jacobianDot(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Returns the derivative of the Jacobian for the kinematic chain between root and the tip frame as full...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:339</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a907964be0069008a7beda2c90bcf84bd"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a907964be0069008a7beda2c90bcf84bd">wbc::RobotModelRBDL::jointNamesInRBDLOrder</a></div><div class="ttdeci">std::vector&lt; std::string &gt; jointNamesInRBDLOrder(const std::string &amp;urdf_file)</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a908c539f7004fa9ccb2025ca2f889575"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a908c539f7004fa9ccb2025ca2f889575">wbc::RobotModelRBDL::centerOfMass</a></div><div class="ttdeci">virtual const base::samples::RigidBodyStateSE3 &amp; centerOfMass()</div><div class="ttdoc">Return Current center of gravity in expressed base frame.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:391</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a908c539f7004fa9ccb2025ca2f889575"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a908c539f7004fa9ccb2025ca2f889575">wbc::RobotModelRBDL::centerOfMass</a></div><div class="ttdeci">virtual const base::samples::RigidBodyStateSE3 &amp; centerOfMass()</div><div class="ttdoc">Return Current center of gravity in expressed base frame.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:392</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_a96599b01b31c83ada88c97b020aa7e47"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#a96599b01b31c83ada88c97b020aa7e47">wbc::RobotModelRBDL::tau</a></div><div class="ttdeci">Eigen::VectorXd tau</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:14</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_ab201856077c0200c0aa52e7984270897"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#ab201856077c0200c0aa52e7984270897">wbc::RobotModelRBDL::reg</a></div><div class="ttdeci">static RobotModelRegistry&lt; RobotModelRBDL &gt; reg</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:11</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_ac39a88e10a3f04bafc9b079c65d9d3b5"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#ac39a88e10a3f04bafc9b079c65d9d3b5">wbc::RobotModelRBDL::rbdl_model</a></div><div class="ttdeci">std::shared_ptr&lt; RigidBodyDynamics::Model &gt; rbdl_model</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:13</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_ac823634d7fcc9aabe0f266336501d404"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#ac823634d7fcc9aabe0f266336501d404">wbc::RobotModelRBDL::spatialAccelerationBias</a></div><div class="ttdeci">virtual const base::Acceleration &amp; spatialAccelerationBias(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Returns the spatial acceleration bias, i.e. the term Jdot*qdot.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:342</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_ada39832df12efa2563b096d05d6ddf63"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#ada39832df12efa2563b096d05d6ddf63">wbc::RobotModelRBDL::bodyJacobian</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; bodyJacobian(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Returns the Body Jacobian for the kinematic chain between root and the tip frame as full body Jacobia...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:281</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_ae0dce17c8418f2de2f3d4e7440df2006"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#ae0dce17c8418f2de2f3d4e7440df2006">wbc::RobotModelRBDL::update</a></div><div class="ttdeci">virtual void update(const base::samples::Joints &amp;joint_state, const base::samples::RigidBodyStateSE3 &amp;floating_base_state=base::samples::RigidBodyStateSE3())</div><div class="ttdoc">Update the robot configuration.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:120</div></div>
-<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_af25bd03ef928a26f6f23b034f05b57c8"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#af25bd03ef928a26f6f23b034f05b57c8">wbc::RobotModelRBDL::jointSpaceInertiaMatrix</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; jointSpaceInertiaMatrix()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:369</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_ac823634d7fcc9aabe0f266336501d404"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#ac823634d7fcc9aabe0f266336501d404">wbc::RobotModelRBDL::spatialAccelerationBias</a></div><div class="ttdeci">virtual const base::Acceleration &amp; spatialAccelerationBias(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Returns the spatial acceleration bias, i.e. the term Jdot*qdot.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:343</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_ada39832df12efa2563b096d05d6ddf63"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#ada39832df12efa2563b096d05d6ddf63">wbc::RobotModelRBDL::bodyJacobian</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; bodyJacobian(const std::string &amp;root_frame, const std::string &amp;tip_frame)</div><div class="ttdoc">Returns the Body Jacobian for the kinematic chain between root and the tip frame as full body Jacobia...</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:282</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_ae0dce17c8418f2de2f3d4e7440df2006"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#ae0dce17c8418f2de2f3d4e7440df2006">wbc::RobotModelRBDL::update</a></div><div class="ttdeci">virtual void update(const base::samples::Joints &amp;joint_state, const base::samples::RigidBodyStateSE3 &amp;floating_base_state=base::samples::RigidBodyStateSE3())</div><div class="ttdoc">Update the robot configuration.</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:121</div></div>
+<div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_af25bd03ef928a26f6f23b034f05b57c8"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#af25bd03ef928a26f6f23b034f05b57c8">wbc::RobotModelRBDL::jointSpaceInertiaMatrix</a></div><div class="ttdeci">virtual const base::MatrixXd &amp; jointSpaceInertiaMatrix()</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.cpp:370</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_af36e349d1b181bcf052fe54e265b13e7"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#af36e349d1b181bcf052fe54e265b13e7">wbc::RobotModelRBDL::H_q</a></div><div class="ttdeci">RigidBodyDynamics::Math::MatrixNd H_q</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:15</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_af739bc3f3d5399bee37c450831873c8c"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#af739bc3f3d5399bee37c450831873c8c">wbc::RobotModelRBDL::J</a></div><div class="ttdeci">RigidBodyDynamics::Math::MatrixNd J</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:15</div></div>
 <div class="ttc" id="aclasswbc_1_1RobotModelRBDL_html_afbed39f76a3943da6a897caae08c3569"><div class="ttname"><a href="classwbc_1_1RobotModelRBDL.html#afbed39f76a3943da6a897caae08c3569">wbc::RobotModelRBDL::qdd</a></div><div class="ttdeci">Eigen::VectorXd qdd</div><div class="ttdef"><b>Definition</b> RobotModelRBDL.hpp:14</div></div>