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+<tr class="memitem:ab5d166b1b352b79386390971e7a247c8" id="r_ab5d166b1b352b79386390971e7a247c8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab5d166b1b352b79386390971e7a247c8">toRaw</a> (const trajectory_msgs::msg::JointTrajectory &amp;in, std::vector&lt; double &gt; &amp;out)</td></tr>
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+<tr class="memitem:a6f8e430b151f06a5e716e839131272ee" id="r_a6f8e430b151f06a5e716e839131272ee"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6f8e430b151f06a5e716e839131272ee">fromRaw</a> (const std::vector&lt; double &gt; &amp;in, base::samples::RigidBodyStateSE3 &amp;out)</td></tr>
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+<tr class="memitem:a95b1f98df0c00b0462f6f8957eaab5d5" id="r_a95b1f98df0c00b0462f6f8957eaab5d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a95b1f98df0c00b0462f6f8957eaab5d5">fromRaw</a> (const std::vector&lt; double &gt; &amp;in, base::samples::Joints &amp;out)</td></tr>
 <tr class="separator:a95b1f98df0c00b0462f6f8957eaab5d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table>
 <h2 class="groupheader">Function Documentation</h2>
@@ -116,19 +117,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a95b1f98df0c00b0462f6f895
         <tr>
           <td class="memname">void fromRaw </td>
           <td>(</td>
-          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::Joints &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::Joints &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -144,19 +138,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6f8e430b151f06a5e716e839
         <tr>
           <td class="memname">void fromRaw </td>
           <td>(</td>
-          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::RigidBodyStateSE3 &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::RigidBodyStateSE3 &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -172,19 +159,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a605230a4c42690d6b33c000e
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const geometry_msgs::msg::Accel &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const geometry_msgs::msg::Accel &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::Acceleration &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::Acceleration &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -200,19 +180,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2f4fd141cab7b4f58b5c0b5e
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const geometry_msgs::msg::Pose &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const geometry_msgs::msg::Pose &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::Pose &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::Pose &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -228,19 +201,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a716a7be7c25d5c1c55649d41
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const geometry_msgs::msg::Twist &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const geometry_msgs::msg::Twist &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::Twist &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::Twist &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -256,19 +222,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#aba2ffc1c1d4075beaeb445a1
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const geometry_msgs::msg::WrenchStamped &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const geometry_msgs::msg::WrenchStamped &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::Wrench &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::Wrench &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -284,19 +243,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2936bb748c0c8009e1915bab
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const sensor_msgs::msg::JointState &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const sensor_msgs::msg::JointState &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::Joints &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::Joints &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
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-          <td class="paramname"><em>in</em>, </td>
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-          <td class="paramtype">const base::samples::RigidBodyStateSE3 &amp;&#160;</td>
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-          <td class="paramtype">const base::Time &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
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-          <td class="paramtype">const base::Twist &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
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-        </tr>
-        <tr>
-          <td></td>
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-          <td class="paramtype">const base::VectorXd &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
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-          <td></td><td></td>
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-          <td class="paramtype">const TaskConfig &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
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-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
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-          <td class="paramtype">const TaskStatus &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const TaskStatus &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
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-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
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+          <td class="paramtype">wbc_msgs::msg::TaskStatus &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
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diff --git a/conversions_8hpp.html b/conversions_8hpp.html
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+<tr class="memitem:a2936bb748c0c8009e1915bab4bddf7c1" id="r_a2936bb748c0c8009e1915bab4bddf7c1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2936bb748c0c8009e1915bab4bddf7c1">fromROS</a> (const sensor_msgs::msg::JointState &amp;in, base::samples::Joints &amp;out)</td></tr>
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+<tr class="memitem:a2f4fd141cab7b4f58b5c0b5e0f9362b4" id="r_a2f4fd141cab7b4f58b5c0b5e0f9362b4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2f4fd141cab7b4f58b5c0b5e0f9362b4">fromROS</a> (const geometry_msgs::msg::Pose &amp;in, base::Pose &amp;out)</td></tr>
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 </table>
 <h2 class="groupheader">Function Documentation</h2>
@@ -135,19 +136,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a95b1f98df0c00b0462f6f895
         <tr>
           <td class="memname">void fromRaw </td>
           <td>(</td>
-          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::Joints &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::Joints &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -163,19 +157,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a6f8e430b151f06a5e716e839
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           <td class="memname">void fromRaw </td>
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-          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::RigidBodyStateSE3 &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::RigidBodyStateSE3 &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -191,19 +178,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a605230a4c42690d6b33c000e
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const geometry_msgs::msg::Accel &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const geometry_msgs::msg::Accel &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::Acceleration &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::Acceleration &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -219,19 +199,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2f4fd141cab7b4f58b5c0b5e
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const geometry_msgs::msg::Pose &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const geometry_msgs::msg::Pose &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::Pose &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::Pose &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -247,19 +220,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a716a7be7c25d5c1c55649d41
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const geometry_msgs::msg::Twist &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const geometry_msgs::msg::Twist &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::Twist &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::Twist &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -275,19 +241,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#aba2ffc1c1d4075beaeb445a1
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const geometry_msgs::msg::WrenchStamped &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const geometry_msgs::msg::WrenchStamped &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::Wrench &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::Wrench &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -303,19 +262,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2936bb748c0c8009e1915bab
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const sensor_msgs::msg::JointState &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const sensor_msgs::msg::JointState &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::Joints &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::Joints &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -331,19 +283,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a850a1c11076e0a1bae1eff74
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const std_msgs::msg::Float64MultiArray &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const std_msgs::msg::Float64MultiArray &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::VectorXd &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::VectorXd &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -359,25 +304,17 @@ <h2 class="memtitle"><span class="permalink"><a href="#adaa04d78ab2b2eea665d5233
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const std_msgs::msg::Float64MultiArray &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const std_msgs::msg::Float64MultiArray &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">const std::vector&lt; std::string &gt; &amp;&#160;</td>
-          <td class="paramname"><em>joint_names</em>, </td>
+          <td class="paramtype">const std::vector&lt; std::string &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>joint_names</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">wbc::JointWeights &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">wbc::JointWeights &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -393,19 +330,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2f7a393896aa4d44a9be3c03
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const trajectory_msgs::msg::JointTrajectory &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const trajectory_msgs::msg::JointTrajectory &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::Joints &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::Joints &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -421,19 +351,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad75d124596b1de1af1f3ec5d
         <tr>
           <td class="memname">void fromROS </td>
           <td>(</td>
-          <td class="paramtype">const wbc_msgs::msg::RigidBodyState &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const wbc_msgs::msg::RigidBodyState &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">base::samples::RigidBodyStateSE3 &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">base::samples::RigidBodyStateSE3 &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -449,19 +372,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab5d166b1b352b79386390971
         <tr>
           <td class="memname">void toRaw </td>
           <td>(</td>
-          <td class="paramtype">const trajectory_msgs::msg::JointTrajectory &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const trajectory_msgs::msg::JointTrajectory &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">std::vector&lt; double &gt; &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -477,19 +393,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a049be81ec3328b2618cede48
         <tr>
           <td class="memname">void toRaw </td>
           <td>(</td>
-          <td class="paramtype">const wbc_msgs::msg::RigidBodyState &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const wbc_msgs::msg::RigidBodyState &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">std::vector&lt; double &gt; &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">std::vector&lt; double &gt; &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -505,19 +414,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a88ccd2f8b50b4c1ad857a35a
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const base::Acceleration &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const base::Acceleration &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">geometry_msgs::msg::Accel &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">geometry_msgs::msg::Accel &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -533,19 +435,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a21d52cb4c0420a366ed0aef7
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const base::commands::Joints &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const base::commands::Joints &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">trajectory_msgs::msg::JointTrajectory &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">trajectory_msgs::msg::JointTrajectory &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -561,19 +456,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a48bbf0f972fea2232264af62
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const base::Pose &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const base::Pose &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">geometry_msgs::msg::Pose &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">geometry_msgs::msg::Pose &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -589,19 +477,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac83163bfd58aa6da85a05372
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const base::samples::Joints &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const base::samples::Joints &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">sensor_msgs::msg::JointState &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">sensor_msgs::msg::JointState &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -617,19 +498,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a070a080aff4fb9c371d68ea2
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const base::samples::RigidBodyStateSE3 &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const base::samples::RigidBodyStateSE3 &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">wbc_msgs::msg::RigidBodyState &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">wbc_msgs::msg::RigidBodyState &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -645,19 +519,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a1dc41ef04cc4ba5d16b12062
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const base::Time &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const base::Time &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">builtin_interfaces::msg::Time &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">builtin_interfaces::msg::Time &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -673,19 +540,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a71ca3ab394415d1c3a389dc7
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const base::Twist &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const base::Twist &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">geometry_msgs::msg::Twist &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">geometry_msgs::msg::Twist &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -701,19 +561,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2a973b5eecd0df4d9b13bf83
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const base::VectorXd &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const base::VectorXd &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">std_msgs::msg::Float64MultiArray &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">std_msgs::msg::Float64MultiArray &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -729,19 +582,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a11b889581fd6e80beb1ed4d2
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const wbc::TaskConfig &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const wbc::TaskConfig &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">wbc_msgs::msg::TaskConfig &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">wbc_msgs::msg::TaskConfig &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -757,19 +603,12 @@ <h2 class="memtitle"><span class="permalink"><a href="#a719d055573188d05d8f95e26
         <tr>
           <td class="memname">void toROS </td>
           <td>(</td>
-          <td class="paramtype">const wbc::TaskStatus &amp;&#160;</td>
-          <td class="paramname"><em>in</em>, </td>
+          <td class="paramtype">const wbc::TaskStatus &amp;</td>          <td class="paramname"><span class="paramname"><em>in</em>, </span></td>
         </tr>
         <tr>
           <td class="paramkey"></td>
           <td></td>
-          <td class="paramtype">wbc_msgs::msg::TaskStatus &amp;&#160;</td>
-          <td class="paramname"><em>out</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
+          <td class="paramtype">wbc_msgs::msg::TaskStatus &amp;</td>          <td class="paramname"><span class="paramname"><em>out</em></span>&#160;)</td>
         </tr>
       </table>
 </div><div class="memdoc">
@@ -779,7 +618,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a719d055573188d05d8f95e26
 </div><!-- contents -->
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 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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+--note-color-bg: #faf3d8;
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+--note-color-text: #5f4204;
+--todo-color-bg: #e4f3ff;
+--todo-color-hl: #1879C4;
+--todo-color-text: #274a5c;
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+--note-color-bg: #3b2e04;
+--note-color-hl: #f1b602;
+--note-color-text: #ceb670;
+--todo-color-bg: #163750;
+--todo-color-hl: #1982D2;
+--todo-color-text: #dcf0fa;
+--test-color-bg: #121258;
+--test-color-hl: #4242cf;
+--test-color-text: #c0c0da;
+--deprecated-color-bg: #2e323b;
+--deprecated-color-hl: #738396;
+--deprecated-color-text: #abb0bd;
+--bug-color-bg: #2a2536;
+--bug-color-hl: #7661b3;
+--bug-color-text: #ae9ed6;
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+--invariant-color-hl: #76ce96;
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@@ -556,7 +600,13 @@ a {
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+	text-decoration: none;
+	background:   linear-gradient(to bottom, transparent 0,transparent calc(100% - 1px), currentColor 100%);
+}
+
+a:hover > span.arrow {
+        text-decoration: none;
+        background : var(--nav-background-color);
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 a.el {
@@ -632,30 +682,63 @@ ul.multicol {
 .fragment {
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+  overflow-x: auto;
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+  position: relative;
+  min-height: 12px;
+  margin: 10px 0px;
+  padding: 10px 10px;
+  border: 1px solid var(--fragment-border-color);
+  border-radius: 4px;
+  background-color: var(--fragment-background-color);
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-        background-color: var(--fragment-background-color);
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+
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@@ -778,10 +861,6 @@ img.light-mode-visible {
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@@ -1081,17 +1160,25 @@ dl.reflist dd {
 
 .paramtype {
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+        padding: 0px;
+        padding-bottom: 1px;
+        margin-left: 2px;
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+
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+	margin-right: 1px;
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-/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
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+
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@@ -1569,8 +1656,101 @@ dl.bug {
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+*/
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a, dl.test a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug,
+dl.invariant, dl.pre, dl.post, dl.todo, dl.test, dl.remark {
+    padding: 10px;
+    margin: 10px 0px;
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: 4px;
+}
+
 dl.section dd {
-	margin-bottom: 6px;
+    margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+    background: var(--warning-color-bg);
+    border-left: 8px solid var(--warning-color-hl);
+    color: var(--warning-color-text);
+}
+
+dl.warning dt, dl.attention dt {
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+}
+
+dl.note, dl.remark {
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+    border-left: 8px solid var(--note-color-hl);
+    color: var(--note-color-text);
+}
+
+dl.note dt, dl.remark dt {
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+}
+
+dl.todo {
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+    border-left: 8px solid var(--todo-color-hl);
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+}
+
+dl.todo dt {
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+}
+
+dl.test {
+    background: var(--test-color-bg);
+    border-left: 8px solid var(--test-color-hl);
+    color: var(--test-color-text);
+}
+
+dl.test dt {
+    color: var(--test-color-hl);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-hl) !important;
+}
+
+dl.bug {
+    background: var(--bug-color-bg);
+    border-left: 8px solid var(--bug-color-hl);
+    color: var(--bug-color-text);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-hl) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color-bg);
+    border-left: 8px solid var(--deprecated-color-hl);
+    color: var(--deprecated-color-text);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-hl) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd, dl.test dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color-bg);
+    border-left: 8px solid var(--invariant-color-hl);
+    color: var(--invariant-color-text);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-hl);
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@@ -1585,12 +1765,12 @@ dl.section dd {
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+
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+
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+<head>
+<title>Validator / crawler helper</title>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<body>
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+<a href="cartesian__position__controller_8cpp.html"/>
+<a href="conversions_8cpp.html"/>
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index b73c828..8f49326 100644
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-
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-{
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-{
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-      a.html('&#9658;');
-      $(this).show();
+
+let dynsection = {
+
+  // helper function
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+    $('table.directory tr').
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+    $('table.directory tr').
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+  },
+
+  toggleVisibility : function(linkObj) {
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+    const summary = $('#'+base+'-summary');
+    const content = $('#'+base+'-content');
+    const trigger = $('#'+base+'-trigger');
+    const src=$(trigger).attr('src');
+    if (content.is(':visible')===true) {
+      content.hide();
+      summary.show();
+      $(linkObj).addClass('closed').removeClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
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+      $(linkObj).removeClass('closed').addClass('opened');
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-{
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-
-  // all rows after the clicked row
-  var rows = currentRow.nextAll("tr");
-
-  var re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
-
-  // only match elements AFTER this one (can't hide elements before)
-  var childRows = rows.filter(function() { return this.id.match(re); });
-
-  // first row is visible we are HIDING
-  if (childRows.filter(':first').is(':visible')===true) {
-    // replace down arrow by right arrow for current row
-    var currentRowSpans = currentRow.find("span");
-    currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
-    currentRowSpans.filter(".arrow").html('&#9658;');
-    rows.filter("[id^=row_"+id+"]").hide(); // hide all children
-  } else { // we are SHOWING
-    // replace right arrow by down arrow for current row
-    var currentRowSpans = currentRow.find("span");
-    currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
-    currentRowSpans.filter(".arrow").html('&#9660;');
-    // replace down arrows by right arrows for child rows
-    var childRowsSpans = childRows.find("span");
-    childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
-    childRowsSpans.filter(".arrow").html('&#9658;');
-    childRows.show(); //show all children
-  }
-  updateStripes();
-}
-
-
-function toggleInherit(id)
-{
-  var rows = $('tr.inherit.'+id);
-  var img = $('tr.inherit_header.'+id+' img');
-  var src = $(img).attr('src');
-  if (rows.filter(':first').is(':visible')===true) {
-    rows.css('display','none');
-    $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
-  } else {
-    rows.css('display','table-row'); // using show() causes jump in firefox
-    $(img).attr('src',src.substring(0,src.length-10)+'open.png');
-  }
-}
-
-var opened=true;
-// in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes
-var plusImg  = [ "var(--fold-plus-image)",  "var(--fold-plus-image-relpath)" ];
-var minusImg = [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ];
-
-// toggle all folding blocks
-function codefold_toggle_all(relPath) {
- if (opened) {
-   $('#fold_all').css('background-image',plusImg[relPath]);
-   $('div[id^=foldopen]').hide();
-   $('div[id^=foldclosed]').show();
- } else {
-   $('#fold_all').css('background-image',minusImg[relPath]);
-   $('div[id^=foldopen]').show();
-   $('div[id^=foldclosed]').hide();
- }
- opened=!opened;
-}
-
-// toggle single folding block
-function codefold_toggle(id) {
-  $('#foldopen'+id).toggle();
-  $('#foldclosed'+id).toggle();
-}
-function init_codefold(relPath) {
-  $('span[class=lineno]').css(
-    {'padding-right':'4px',
-     'margin-right':'2px',
-     'display':'inline-block',
-     'width':'54px',
-     'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%'
+    return false;
+  },
+
+  toggleLevel : function(level) {
+    $('table.directory tr').each(function() {
+      const l = this.id.split('_').length-1;
+      const i = $('#img'+this.id.substring(3));
+      const a = $('#arr'+this.id.substring(3));
+      if (l<level+1) {
+        i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
+        a.html('&#9660;');
+        $(this).show();
+      } else if (l==level+1) {
+        i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
+        a.html('&#9658;');
+        $(this).show();
+      } else {
+        $(this).hide();
+      }
     });
-  // add global toggle to first line
-  $('span[class=lineno]:first').append('<span class="fold" id="fold_all" '+
-                                             'onclick="javascript:codefold_toggle_all('+relPath+');" '+
-                                             'style="background-image:'+minusImg[relPath]+';"></span>');
-  // add vertical lines to other rows
-  $('span[class=lineno]').not(':eq(0)').append('<span class="fold"></span>');
-  // add toggle controls to lines with fold divs
-  $('div[class=foldopen]').each(function() {
-    // extract specific id to use
-    var id    = $(this).attr('id').replace('foldopen','');
-    // extract start and end foldable fragment attributes
-    var start = $(this).attr('data-start');
-    var end   = $(this).attr('data-end');
-    // replace normal fold span with controls for the first line of a foldable fragment
-    $(this).find('span[class=fold]:first').replaceWith('<span class="fold" '+
-                                                       'onclick="javascript:codefold_toggle(\''+id+'\');" '+
-                                                       'style="background-image:'+minusImg[relPath]+';"></span>');
-    // append div for folded (closed) representation
-    $(this).after('<div id="foldclosed'+id+'" class="foldclosed" style="display:none;"></div>');
-    // extract the first line from the "open" section to represent closed content
-    var line = $(this).children().first().clone();
-    // remove any glow that might still be active on the original line
-    $(line).removeClass('glow');
-    if (start) {
-      // if line already ends with a start marker (e.g. trailing {), remove it
-      $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),''));
+    this.updateStripes();
+  },
+
+  toggleFolder : function(id) {
+    // the clicked row
+    const currentRow = $('#row_'+id);
+
+    // all rows after the clicked row
+    const rows = currentRow.nextAll("tr");
+
+    const re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+    // only match elements AFTER this one (can't hide elements before)
+    const childRows = rows.filter(function() { return this.id.match(re); });
+
+    // first row is visible we are HIDING
+    if (childRows.filter(':first').is(':visible')===true) {
+      // replace down arrow by right arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      currentRowSpans.filter(".arrow").html('&#9658;');
+      rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+    } else { // we are SHOWING
+      // replace right arrow by down arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
+      currentRowSpans.filter(".arrow").html('&#9660;');
+      // replace down arrows by right arrows for child rows
+      const childRowsSpans = childRows.find("span");
+      childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      childRowsSpans.filter(".arrow").html('&#9658;');
+      childRows.show(); //show all children
     }
-    // replace minus with plus symbol
-    $(line).find('span[class=fold]').css('background-image',plusImg[relPath]);
-    // append ellipsis
-    $(line).append(' '+start+'<a href="javascript:codefold_toggle(\''+id+'\')">&#8230;</a>'+end);
-    // insert constructed line into closed div
-    $('#foldclosed'+id).html(line);
-  });
-}
-
+    this.updateStripes();
+  },
+
+  toggleInherit : function(id) {
+    const rows = $('tr.inherit.'+id);
+    const img = $('tr.inherit_header.'+id+' img');
+    const src = $(img).attr('src');
+    if (rows.filter(':first').is(':visible')===true) {
+      rows.css('display','none');
+      $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      rows.css('display','table-row'); // using show() causes jump in firefox
+      $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+  },
+};
+
+let codefold = {
+  opened : true,
+
+  // in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes
+  plusImg:  [ "var(--fold-plus-image)",  "var(--fold-plus-image-relpath)" ],
+  minusImg: [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ],
+
+  // toggle all folding blocks
+  toggle_all : function(relPath) {
+    if (this.opened) {
+      $('#fold_all').css('background-image',this.plusImg[relPath]);
+      $('div[id^=foldopen]').hide();
+      $('div[id^=foldclosed]').show();
+    } else {
+      $('#fold_all').css('background-image',this.minusImg[relPath]);
+      $('div[id^=foldopen]').show();
+      $('div[id^=foldclosed]').hide();
+    }
+    this.opened=!this.opened;
+  },
+
+  // toggle single folding block
+  toggle : function(id) {
+    $('#foldopen'+id).toggle();
+    $('#foldclosed'+id).toggle();
+  },
+
+  init : function(relPath) {
+    $('span[class=lineno]').css({
+      'padding-right':'4px',
+      'margin-right':'2px',
+      'display':'inline-block',
+      'width':'54px',
+      'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%'
+    });
+    // add global toggle to first line
+    $('span[class=lineno]:first').append('<span class="fold" id="fold_all" '+
+      'onclick="javascript:codefold.toggle_all('+relPath+');" '+
+      'style="background-image:'+this.minusImg[relPath]+';"></span>');
+    // add vertical lines to other rows
+    $('span[class=lineno]').not(':eq(0)').append('<span class="fold"></span>');
+    // add toggle controls to lines with fold divs
+    $('div[class=foldopen]').each(function() {
+      // extract specific id to use
+      const id    = $(this).attr('id').replace('foldopen','');
+      // extract start and end foldable fragment attributes
+      const start = $(this).attr('data-start');
+      const end   = $(this).attr('data-end');
+      // replace normal fold span with controls for the first line of a foldable fragment
+      $(this).find('span[class=fold]:first').replaceWith('<span class="fold" '+
+                   'onclick="javascript:codefold.toggle(\''+id+'\');" '+
+                   'style="background-image:'+codefold.minusImg[relPath]+';"></span>');
+      // append div for folded (closed) representation
+      $(this).after('<div id="foldclosed'+id+'" class="foldclosed" style="display:none;"></div>');
+      // extract the first line from the "open" section to represent closed content
+      const line = $(this).children().first().clone();
+      // remove any glow that might still be active on the original line
+      $(line).removeClass('glow');
+      if (start) {
+        // if line already ends with a start marker (e.g. trailing {), remove it
+        $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),''));
+      }
+      // replace minus with plus symbol
+      $(line).find('span[class=fold]').css('background-image',codefold.plusImg[relPath]);
+      // append ellipsis
+      $(line).append(' '+start+'<a href="javascript:codefold.toggle(\''+id+'\')">&#8230;</a>'+end);
+      // insert constructed line into closed div
+      $('#foldclosed'+id).html(line);
+    });
+  },
+};
 /* @license-end */
diff --git a/files.html b/files.html
index 0d5aeec..03b75b1 100644
--- a/files.html
+++ b/files.html
@@ -3,12 +3,13 @@
 <head>
 <meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>wbc_ros: File List</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
 <script type="text/x-mathjax-config">
 MathJax.Hub.Config({
   extensions: ["tex2jax.js"],
@@ -33,7 +34,7 @@
 </table>
 </div>
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-<!-- Generated by Doxygen 1.9.8 -->
+<!-- Generated by Doxygen 1.10.0 -->
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 <script type="text/javascript">
@@ -50,9 +51,9 @@
 </div><!--header-->
 <div class="contents">
 <div class="textblock">Here is a list of all files with brief descriptions:</div><div class="directory">
-<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
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+<div class="levels">[detail level <span onclick="javascript:dynsection.toggleLevel(1);">1</span><span onclick="javascript:dynsection.toggleLevel(2);">2</span><span onclick="javascript:dynsection.toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="dynsection.toggleFolder('0_')">&#9660;</span><span id="img_0_" class="iconfopen" onclick="dynsection.toggleFolder('0_')">&#160;</span><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html" target="_self">src</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_0_" class="arrow" onclick="dynsection.toggleFolder('0_0_')">&#9660;</span><span id="img_0_0_" class="iconfopen" onclick="dynsection.toggleFolder('0_0_')">&#160;</span><a class="el" href="dir_e931c1a3f0014e624d0645a271726ad2.html" target="_self">examples</a></td><td class="desc"></td></tr>
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 <tr id="row_0_0_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icondoc"></span><a class="el" href="joint__trajectory__publisher_8cpp.html" target="_self">joint_trajectory_publisher.cpp</a></td><td class="desc"></td></tr>
@@ -66,7 +67,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
 </small></address>
 </body>
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diff --git a/functions.html b/functions.html
index 8061a2e..95623a1 100644
--- a/functions.html
+++ b/functions.html
@@ -3,12 +3,13 @@
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 <meta http-equiv="X-UA-Compatible" content="IE=11"/>
-<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
 <meta name="viewport" content="width=device-width, initial-scale=1"/>
 <title>wbc_ros: Class Members</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
 <script type="text/x-mathjax-config">
 MathJax.Hub.Config({
   extensions: ["tex2jax.js"],
@@ -33,7 +34,7 @@
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-<!-- Generated by Doxygen 1.9.8 -->
+<!-- Generated by Doxygen 1.10.0 -->
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@@ -54,7 +55,7 @@
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 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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diff --git a/functions_func.html b/functions_func.html
index 7638c67..8e7a2f5 100644
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+++ b/functions_func.html
@@ -3,12 +3,13 @@
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+<meta name="generator" content="Doxygen 1.10.0"/>
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 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/globals.html b/globals.html
index d8fcc05..6bcf00b 100644
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+<meta name="generator" content="Doxygen 1.10.0"/>
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 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
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@@ -66,7 +67,7 @@ <h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
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 <hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/globals_func.html b/globals_func.html
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@@ -3,12 +3,13 @@
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 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
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diff --git a/hierarchy.html b/hierarchy.html
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 <title>wbc_ros: Class Hierarchy</title>
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
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