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diff --git a/CartesianForceController_8hpp.html b/CartesianForceController_8hpp.html
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diff --git a/CartesianForceController_8hpp_source.html b/CartesianForceController_8hpp_source.html
@@ -1,9 +1,9 @@
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@@ -72,8 +72,8 @@
 <div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1CartesianForceController.html#a2f16535bc8579ed940019d145ee62835">   18</a></span>    <span class="keyword">friend</span> <span class="keyword">class </span><a class="code hl_friend" href="classctrl__lib_1_1CartesianForceController.html#a2f16535bc8579ed940019d145ee62835">CartesianForceControllerBase</a>;</div>
 <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
 <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <a class="code hl_function" href="classctrl__lib_1_1CartesianForceController.html#ad410b2b87bbc9d02a21518fd1dc62308">CartesianForceController</a>(std::string <span class="keyword">const</span>&amp; name = <span class="stringliteral">&quot;ctrl_lib::CartesianForceController&quot;</span>);</div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <a class="code hl_function" href="classctrl__lib_1_1CartesianForceController.html#ad410b2b87bbc9d02a21518fd1dc62308">CartesianForceController</a>(std::string <span class="keyword">const</span>&amp; name, RTT::ExecutionEngine* engine);</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <a class="code hl_class" href="classctrl__lib_1_1CartesianForceController.html">CartesianForceController</a>(std::string <span class="keyword">const</span>&amp; name = <span class="stringliteral">&quot;ctrl_lib::CartesianForceController&quot;</span>);</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <a class="code hl_class" href="classctrl__lib_1_1CartesianForceController.html">CartesianForceController</a>(std::string <span class="keyword">const</span>&amp; name, RTT::ExecutionEngine* engine);</div>
 <div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1CartesianForceController.html#ab655a276fd3ca0daaadb0ad2ee39214b">   23</a></span>    <a class="code hl_function" href="classctrl__lib_1_1CartesianForceController.html#ab655a276fd3ca0daaadb0ad2ee39214b">~CartesianForceController</a>(){}</div>
 <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classctrl__lib_1_1CartesianForceController.html#a9dfe63561a58dea2689b0cdf6851332e">configureHook</a>();</div>
 <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classctrl__lib_1_1CartesianForceController.html#af2248c56cc995cfbedd08f2b77e1357e">startHook</a>();</div>
@@ -134,15 +134,14 @@
 <div class="ttc" id="aclassctrl__lib_1_1CartesianForceController_html_aa998edfd2e06fa40713acf2e041063bb"><div class="ttname"><a href="classctrl__lib_1_1CartesianForceController.html#aa998edfd2e06fa40713acf2e041063bb">ctrl_lib::CartesianForceController::feedback_raw</a></div><div class="ttdeci">base::VectorXd feedback_raw</div><div class="ttdef"><b>Definition:</b> CartesianForceController.hpp:57</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1CartesianForceController_html_ab655a276fd3ca0daaadb0ad2ee39214b"><div class="ttname"><a href="classctrl__lib_1_1CartesianForceController.html#ab655a276fd3ca0daaadb0ad2ee39214b">ctrl_lib::CartesianForceController::~CartesianForceController</a></div><div class="ttdeci">~CartesianForceController()</div><div class="ttdef"><b>Definition:</b> CartesianForceController.hpp:23</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1CartesianForceController_html_acaa9be1d2b59f635bc4f2d4774505321"><div class="ttname"><a href="classctrl__lib_1_1CartesianForceController.html#acaa9be1d2b59f635bc4f2d4774505321">ctrl_lib::CartesianForceController::wrenchToRaw</a></div><div class="ttdeci">const base::VectorXd wrenchToRaw(const base::samples::Wrench &amp;wrench, base::VectorXd &amp;raw)</div><div class="ttdef"><b>Definition:</b> CartesianForceController.hpp:47</div></div>
-<div class="ttc" id="aclassctrl__lib_1_1CartesianForceController_html_ad410b2b87bbc9d02a21518fd1dc62308"><div class="ttname"><a href="classctrl__lib_1_1CartesianForceController.html#ad410b2b87bbc9d02a21518fd1dc62308">ctrl_lib::CartesianForceController::CartesianForceController</a></div><div class="ttdeci">CartesianForceController(std::string const &amp;name=&quot;ctrl_lib::CartesianForceController&quot;)</div><div class="ttdef"><b>Definition:</b> CartesianForceController.cpp:9</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1CartesianForceController_html_adaa60d2a19989c057ad39d5b26eb864a"><div class="ttname"><a href="classctrl__lib_1_1CartesianForceController.html#adaa60d2a19989c057ad39d5b26eb864a">ctrl_lib::CartesianForceController::control_output</a></div><div class="ttdeci">base::samples::RigidBodyStateSE3 control_output</div><div class="ttdef"><b>Definition:</b> CartesianForceController.hpp:58</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1CartesianForceController_html_adde36ae415b9d1e76e77134f4b75653c"><div class="ttname"><a href="classctrl__lib_1_1CartesianForceController.html#adde36ae415b9d1e76e77134f4b75653c">ctrl_lib::CartesianForceController::setpoint</a></div><div class="ttdeci">base::samples::Wrench setpoint</div><div class="ttdef"><b>Definition:</b> CartesianForceController.hpp:54</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1CartesianForceController_html_af2248c56cc995cfbedd08f2b77e1357e"><div class="ttname"><a href="classctrl__lib_1_1CartesianForceController.html#af2248c56cc995cfbedd08f2b77e1357e">ctrl_lib::CartesianForceController::startHook</a></div><div class="ttdeci">bool startHook()</div><div class="ttdef"><b>Definition:</b> CartesianForceController.cpp:35</div></div>
 <div class="ttc" id="anamespacectrl__lib_html"><div class="ttname"><a href="namespacectrl__lib.html">ctrl_lib</a></div><div class="ttdef"><b>Definition:</b> CartesianForceController.hpp:11</div></div>
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diff --git a/CartesianPositionController_8cpp.html b/CartesianPositionController_8cpp.html
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