Index

_

__repr__() (roboplan.roboplan_ext.core.JointGroupInfo method) (roboplan.roboplan_ext.core.JointPath method) (roboplan.roboplan_ext.core.JointTrajectory method) (roboplan.roboplan_ext.core.Scene method)

A

accelerations (roboplan.roboplan_ext.core.JointConfiguration property) (roboplan.roboplan_ext.core.JointTrajectory property)

addBoxGeometry() (roboplan.roboplan_ext.core.Scene method) addSphereGeometry() (roboplan.roboplan_ext.core.Scene method) applyMimics() (roboplan.roboplan_ext.core.Scene method)

B

base_frame (roboplan.roboplan_ext.core.CartesianConfiguration property)

Box (class in roboplan.roboplan_ext.core)

C

captureImage() (roboplan.viser_visualizer.ViserVisualizer method) CartesianConfiguration (class in roboplan.roboplan_ext.core) check_collisions (roboplan.roboplan_ext.simple_ik.SimpleIkOptions property) collapseContinuousJointPositions() (in module roboplan.roboplan_ext.core)

collision_check_step_size (roboplan.roboplan_ext.rrt.RRTOptions property) computeFramePath() (in module roboplan.roboplan_ext.core) config (roboplan.roboplan_ext.rrt.Node property) configurationDistance() (roboplan.roboplan_ext.core.Scene method) CONTINUOUS (roboplan.roboplan_ext.core.JointType attribute)

D

damping (roboplan.roboplan_ext.simple_ik.SimpleIkOptions property) disableCameraControl() (roboplan.viser_visualizer.ViserVisualizer method) display() (roboplan.viser_visualizer.ViserVisualizer method)

displayCollisions() (roboplan.viser_visualizer.ViserVisualizer method) displayFrames() (roboplan.viser_visualizer.ViserVisualizer method) displayVisuals() (roboplan.viser_visualizer.ViserVisualizer method) drawFrameVelocities() (roboplan.viser_visualizer.ViserVisualizer method)

E

enableCameraControl() (roboplan.viser_visualizer.ViserVisualizer method)

expandContinuousJointPositions() (in module roboplan.roboplan_ext.core)

F

FLOATING (roboplan.roboplan_ext.core.JointType attribute)

forwardKinematics() (roboplan.roboplan_ext.core.Scene method)

G

generate() (roboplan.roboplan_ext.toppra.PathParameterizerTOPPRA method) get_install_prefix() (in module roboplan.roboplan_ext.example_models) get_package_models_dir() (in module roboplan.roboplan_ext.example_models) get_package_share_dir() (in module roboplan.roboplan_ext.example_models) getActuatedJointNames() (roboplan.roboplan_ext.core.Scene method) getCollisionGeometryIDs() (roboplan.roboplan_ext.core.Scene method) getConfigurationfromNormalizedPathScaling() (roboplan.roboplan_ext.core.PathShortcutter method) getCurrentJointPositions() (roboplan.roboplan_ext.core.Scene method) getFrameId() (roboplan.roboplan_ext.core.Scene method) getJointGroupInfo() (roboplan.roboplan_ext.core.Scene method)

getJointInfo() (roboplan.roboplan_ext.core.Scene method) getJointNames() (roboplan.roboplan_ext.core.Scene method) getJointPositionIndices() (roboplan.roboplan_ext.core.Scene method) getName() (roboplan.roboplan_ext.core.Scene method) getNodes() (roboplan.roboplan_ext.rrt.RRT method) getNormalizedPathScaling() (roboplan.roboplan_ext.core.PathShortcutter method) getPathLengths() (roboplan.roboplan_ext.core.PathShortcutter method) goal_biasing_probability (roboplan.roboplan_ext.rrt.RRTOptions property) group_name (roboplan.roboplan_ext.rrt.RRTOptions property) (roboplan.roboplan_ext.simple_ik.SimpleIkOptions property)

H

has_continuous_dofs (roboplan.roboplan_ext.core.JointGroupInfo property)

hasCollisions() (roboplan.roboplan_ext.core.Scene method) hasCollisionsAlongPath() (in module roboplan.roboplan_ext.core)

I

import_viser_succeed (in module roboplan.viser_visualizer) initViewer() (roboplan.viser_visualizer.ViserVisualizer method)

interpolate() (roboplan.roboplan_ext.core.Scene method) isValidPose() (roboplan.roboplan_ext.core.Scene method)

J

joint_indices (roboplan.roboplan_ext.core.JointGroupInfo property) joint_names (roboplan.roboplan_ext.core.JointConfiguration property) (roboplan.roboplan_ext.core.JointGroupInfo property) (roboplan.roboplan_ext.core.JointPath property) (roboplan.roboplan_ext.core.JointTrajectory property) JointConfiguration (class in roboplan.roboplan_ext.core)

JointGroupInfo (class in roboplan.roboplan_ext.core) JointInfo (class in roboplan.roboplan_ext.core) JointLimits (class in roboplan.roboplan_ext.core) JointMimicInfo (class in roboplan.roboplan_ext.core) JointPath (class in roboplan.roboplan_ext.core) JointTrajectory (class in roboplan.roboplan_ext.core) JointType (class in roboplan.roboplan_ext.core)

L

limits (roboplan.roboplan_ext.core.JointInfo property)

loadViewerGeometryObject() (roboplan.viser_visualizer.ViserVisualizer method) loadViewerModel() (roboplan.viser_visualizer.ViserVisualizer method)

M

max_acceleration (roboplan.roboplan_ext.core.JointLimits property) max_connection_distance (roboplan.roboplan_ext.rrt.RRTOptions property) max_error_norm (roboplan.roboplan_ext.simple_ik.SimpleIkOptions property) max_iters (roboplan.roboplan_ext.simple_ik.SimpleIkOptions property) max_jerk (roboplan.roboplan_ext.core.JointLimits property) max_nodes (roboplan.roboplan_ext.rrt.RRTOptions property) max_planning_time (roboplan.roboplan_ext.rrt.RRTOptions property) max_position (roboplan.roboplan_ext.core.JointLimits property) max_restarts (roboplan.roboplan_ext.simple_ik.SimpleIkOptions property) max_time (roboplan.roboplan_ext.simple_ik.SimpleIkOptions property) max_velocity (roboplan.roboplan_ext.core.JointLimits property) MESH_TYPES (in module roboplan.viser_visualizer)

mimic_info (roboplan.roboplan_ext.core.JointInfo property) mimicked_joint_name (roboplan.roboplan_ext.core.JointMimicInfo property) min_position (roboplan.roboplan_ext.core.JointLimits property) module roboplan roboplan.roboplan_ext roboplan.roboplan_ext.core roboplan.roboplan_ext.example_models roboplan.roboplan_ext.rrt roboplan.roboplan_ext.simple_ik roboplan.roboplan_ext.toppra roboplan.viser_visualizer roboplan.visualization

N

Node (class in roboplan.roboplan_ext.rrt) nq_collapsed (roboplan.roboplan_ext.core.JointGroupInfo property)

num_position_dofs (roboplan.roboplan_ext.core.JointInfo property) num_velocity_dofs (roboplan.roboplan_ext.core.JointInfo property)

O

offset (roboplan.roboplan_ext.core.JointMimicInfo property)

P

parent_id (roboplan.roboplan_ext.rrt.Node property) PathParameterizerTOPPRA (class in roboplan.roboplan_ext.toppra) PathShortcutter (class in roboplan.roboplan_ext.core) plan() (roboplan.roboplan_ext.rrt.RRT method)

PLANAR (roboplan.roboplan_ext.core.JointType attribute) positions (roboplan.roboplan_ext.core.JointConfiguration property) (roboplan.roboplan_ext.core.JointPath property) (roboplan.roboplan_ext.core.JointTrajectory property) PRISMATIC (roboplan.roboplan_ext.core.JointType attribute)

Q

q_indices (roboplan.roboplan_ext.core.JointGroupInfo property)

R

randomCollisionFreePositions() (roboplan.roboplan_ext.core.Scene method) randomPositions() (roboplan.roboplan_ext.core.Scene method) removeGeometry() (roboplan.roboplan_ext.core.Scene method) REVOLUTE (roboplan.roboplan_ext.core.JointType attribute) roboplan module roboplan (C++ type), [1], [2], [3], [4] roboplan.roboplan_ext module roboplan.roboplan_ext.core module roboplan.roboplan_ext.example_models module roboplan.roboplan_ext.rrt module roboplan.roboplan_ext.simple_ik module roboplan.roboplan_ext.toppra module roboplan.viser_visualizer module roboplan.visualization module roboplan::Box (C++ struct) roboplan::Box::Box (C++ function) roboplan::Box::geom_ptr (C++ member) roboplan::CartesianConfiguration (C++ struct) roboplan::CartesianConfiguration::base_frame (C++ member) roboplan::CartesianConfiguration::tform (C++ member) roboplan::CartesianConfiguration::tip_frame (C++ member) roboplan::collapseContinuousJointPositions (C++ function) roboplan::CombinedStateSpace (C++ type) roboplan::computeFramePath (C++ function) roboplan::createFrameMap (C++ function) roboplan::createJointGroupInfo (C++ function) roboplan::example_models (C++ type) roboplan::example_models::get_install_prefix (C++ function) roboplan::example_models::get_package_models_dir (C++ function) roboplan::example_models::get_package_share_dir (C++ function) roboplan::expandContinuousJointPositions (C++ function) roboplan::hasCollisionsAlongPath (C++ function) roboplan::JointConfiguration (C++ struct) roboplan::JointConfiguration::accelerations (C++ member) roboplan::JointConfiguration::joint_names (C++ member) roboplan::JointConfiguration::positions (C++ member) roboplan::JointConfiguration::velocities (C++ member) roboplan::JointGroupInfo (C++ struct) roboplan::JointGroupInfo::has_continuous_dofs (C++ member) roboplan::JointGroupInfo::joint_indices (C++ member) roboplan::JointGroupInfo::joint_names (C++ member) roboplan::JointGroupInfo::nq_collapsed (C++ member) roboplan::JointGroupInfo::operator<< (C++ function) roboplan::JointGroupInfo::q_indices (C++ member) roboplan::JointGroupInfo::v_indices (C++ member) roboplan::JointInfo (C++ struct) roboplan::JointInfo::JointInfo (C++ function) roboplan::JointInfo::limits (C++ member) roboplan::JointInfo::mimic_info (C++ member) roboplan::JointInfo::num_position_dofs (C++ member) roboplan::JointInfo::num_velocity_dofs (C++ member) roboplan::JointInfo::type (C++ member) roboplan::JointLimits (C++ struct) roboplan::JointLimits::max_acceleration (C++ member) roboplan::JointLimits::max_jerk (C++ member) roboplan::JointLimits::max_position (C++ member) roboplan::JointLimits::max_velocity (C++ member) roboplan::JointLimits::min_position (C++ member) roboplan::JointMimicInfo (C++ struct) roboplan::JointMimicInfo::mimicked_joint_name (C++ member) roboplan::JointMimicInfo::offset (C++ member) roboplan::JointMimicInfo::scaling (C++ member) roboplan::JointPath (C++ struct) roboplan::JointPath::joint_names (C++ member) roboplan::JointPath::operator<< (C++ function) roboplan::JointPath::positions (C++ member) roboplan::JointTrajectory (C++ struct) roboplan::JointTrajectory::accelerations (C++ member) roboplan::JointTrajectory::joint_names (C++ member) roboplan::JointTrajectory::operator<< (C++ function) roboplan::JointTrajectory::positions (C++ member) roboplan::JointTrajectory::times (C++ member) roboplan::JointTrajectory::velocities (C++ member) roboplan::JointType (C++ enum) roboplan::JointType::CONTINUOUS (C++ enumerator) roboplan::JointType::FLOATING (C++ enumerator) roboplan::JointType::PLANAR (C++ enumerator) roboplan::JointType::PRISMATIC (C++ enumerator) roboplan::JointType::REVOLUTE (C++ enumerator) roboplan::JointType::UNKNOWN (C++ enumerator) roboplan::KdTree (C++ type) roboplan::kPinocchioJointTypeMap (C++ member) roboplan::Node (C++ struct) roboplan::Node::config (C++ member) roboplan::Node::Node (C++ function) roboplan::Node::parent_id (C++ member) roboplan::PathParameterizerTOPPRA (C++ class) roboplan::PathParameterizerTOPPRA::acc_lower_limits_ (C++ member) roboplan::PathParameterizerTOPPRA::acc_upper_limits_ (C++ member) roboplan::PathParameterizerTOPPRA::continuous_joint_indices_ (C++ member) roboplan::PathParameterizerTOPPRA::generate (C++ function) roboplan::PathParameterizerTOPPRA::group_name_ (C++ member) roboplan::PathParameterizerTOPPRA::joint_group_info_ (C++ member) roboplan::PathParameterizerTOPPRA::PathParameterizerTOPPRA (C++ function) roboplan::PathParameterizerTOPPRA::scene_ (C++ member) roboplan::PathParameterizerTOPPRA::vel_lower_limits_ (C++ member)

roboplan::PathParameterizerTOPPRA::vel_upper_limits_ (C++ member) roboplan::PathShortcutter (C++ class) roboplan::PathShortcutter::getConfigurationFromNormalizedPathScaling (C++ function) roboplan::PathShortcutter::getNormalizedPathScaling (C++ function) roboplan::PathShortcutter::getPathLengths (C++ function) roboplan::PathShortcutter::joint_group_info_ (C++ member) roboplan::PathShortcutter::PathShortcutter (C++ function) roboplan::PathShortcutter::q_full_ (C++ member) roboplan::PathShortcutter::scene_ (C++ member) roboplan::PathShortcutter::shortcut (C++ function) roboplan::readFile (C++ function) roboplan::RRT (C++ class) roboplan::RRT::extend (C++ function) roboplan::RRT::getNodes (C++ function) roboplan::RRT::getPath (C++ function) roboplan::RRT::goal_nodes_ (C++ member) roboplan::RRT::growTree (C++ function) roboplan::RRT::initializeTree (C++ function) roboplan::RRT::joint_group_info_ (C++ member) roboplan::RRT::joinTrees (C++ function) roboplan::RRT::options_ (C++ member) roboplan::RRT::plan (C++ function) roboplan::RRT::rng_gen_ (C++ member) roboplan::RRT::RRT (C++ function) roboplan::RRT::scene_ (C++ member) roboplan::RRT::setRngSeed (C++ function) roboplan::RRT::start_nodes_ (C++ member) roboplan::RRT::state_space_ (C++ member) roboplan::RRT::uniform_dist_ (C++ member) roboplan::RRTOptions (C++ struct) roboplan::RRTOptions::collision_check_step_size (C++ member) roboplan::RRTOptions::goal_biasing_probability (C++ member) roboplan::RRTOptions::group_name (C++ member) roboplan::RRTOptions::max_connection_distance (C++ member) roboplan::RRTOptions::max_nodes (C++ member) roboplan::RRTOptions::max_planning_time (C++ member) roboplan::RRTOptions::rrt_connect (C++ member) roboplan::Scene (C++ class) roboplan::Scene::actuated_joint_names_ (C++ member) roboplan::Scene::addBoxGeometry (C++ function) roboplan::Scene::addGeometry (C++ function) roboplan::Scene::addSphereGeometry (C++ function) roboplan::Scene::applyMimics (C++ function) roboplan::Scene::collision_geometry_map_ (C++ member) roboplan::Scene::collision_model_ (C++ member) roboplan::Scene::collision_model_data_ (C++ member) roboplan::Scene::configurationDistance (C++ function) roboplan::Scene::cur_state_ (C++ member) roboplan::Scene::forwardKinematics (C++ function) roboplan::Scene::frame_map_ (C++ member) roboplan::Scene::getActuatedJointNames (C++ function) roboplan::Scene::getCollisionGeometryIds (C++ function) roboplan::Scene::getCurrentJointPositions (C++ function) roboplan::Scene::getFrameId (C++ function) roboplan::Scene::getJointGroupInfo (C++ function) roboplan::Scene::getJointInfo (C++ function) roboplan::Scene::getJointNames (C++ function) roboplan::Scene::getJointPositionIndices (C++ function) roboplan::Scene::getModel (C++ function) roboplan::Scene::getName (C++ function) roboplan::Scene::hasCollisions (C++ function) roboplan::Scene::interpolate (C++ function) roboplan::Scene::isValidPose (C++ function) roboplan::Scene::joint_group_info_map_ (C++ member) roboplan::Scene::joint_info_map_ (C++ member) roboplan::Scene::joint_names_ (C++ member) roboplan::Scene::model_ (C++ member) roboplan::Scene::model_data_ (C++ member) roboplan::Scene::name_ (C++ member) roboplan::Scene::operator<< (C++ function) roboplan::Scene::randomCollisionFreePositions (C++ function) roboplan::Scene::randomPositions (C++ function) roboplan::Scene::removeGeometry (C++ function) roboplan::Scene::rng_gen_ (C++ member) roboplan::Scene::Scene (C++ function), [1] roboplan::Scene::setCollisions (C++ function) roboplan::Scene::setJointPositions (C++ function) roboplan::Scene::setRngSeed (C++ function) roboplan::Scene::toFullJointPositions (C++ function) roboplan::Scene::updateGeometryPlacement (C++ function) roboplan::SimpleIk (C++ class) roboplan::SimpleIk::data_ (C++ member) roboplan::SimpleIk::full_jacobian_ (C++ member) roboplan::SimpleIk::jacobian_ (C++ member) roboplan::SimpleIk::jjt_ (C++ member) roboplan::SimpleIk::joint_group_info_ (C++ member) roboplan::SimpleIk::options_ (C++ member) roboplan::SimpleIk::scene_ (C++ member) roboplan::SimpleIk::SimpleIk (C++ function) roboplan::SimpleIk::solveIk (C++ function) roboplan::SimpleIk::vel_ (C++ member) roboplan::SimpleIkOptions (C++ struct) roboplan::SimpleIkOptions::check_collisions (C++ member) roboplan::SimpleIkOptions::damping (C++ member) roboplan::SimpleIkOptions::group_name (C++ member) roboplan::SimpleIkOptions::max_error_norm (C++ member) roboplan::SimpleIkOptions::max_iters (C++ member) roboplan::SimpleIkOptions::max_restarts (C++ member) roboplan::SimpleIkOptions::max_time (C++ member) roboplan::SimpleIkOptions::step_size (C++ member) roboplan::Sphere (C++ struct) roboplan::Sphere::geom_ptr (C++ member) roboplan::Sphere::Sphere (C++ function) RRT (class in roboplan.roboplan_ext.rrt) rrt_connect (roboplan.roboplan_ext.rrt.RRTOptions property) RRTOptions (class in roboplan.roboplan_ext.rrt)

S

scaling (roboplan.roboplan_ext.core.JointMimicInfo property) Scene (class in roboplan.roboplan_ext.core) setBackgroundColor() (roboplan.viser_visualizer.ViserVisualizer method) setCameraPose() (roboplan.viser_visualizer.ViserVisualizer method) setCameraPosition() (roboplan.viser_visualizer.ViserVisualizer method) setCameraTarget() (roboplan.viser_visualizer.ViserVisualizer method) setCameraZoom() (roboplan.viser_visualizer.ViserVisualizer method) setCollisions() (roboplan.roboplan_ext.core.Scene method) setJointPositions() (roboplan.roboplan_ext.core.Scene method)

setRngSeed() (roboplan.roboplan_ext.core.Scene method) (roboplan.roboplan_ext.rrt.RRT method) shortcut() (roboplan.roboplan_ext.core.PathShortcutter method) SimpleIk (class in roboplan.roboplan_ext.simple_ik) SimpleIkOptions (class in roboplan.roboplan_ext.simple_ik) solveIk() (roboplan.roboplan_ext.simple_ik.SimpleIk method) Sphere (class in roboplan.roboplan_ext.core) static_objects (roboplan.viser_visualizer.ViserVisualizer attribute) step_size (roboplan.roboplan_ext.simple_ik.SimpleIkOptions property)

T

tform (roboplan.roboplan_ext.core.CartesianConfiguration property) times (roboplan.roboplan_ext.core.JointTrajectory property)

tip_frame (roboplan.roboplan_ext.core.CartesianConfiguration property) toFullJointPositions() (roboplan.roboplan_ext.core.Scene method) type (roboplan.roboplan_ext.core.JointInfo property)

U

UNKNOWN (roboplan.roboplan_ext.core.JointType attribute) updateFrames() (roboplan.viser_visualizer.ViserVisualizer method)

updateGeometryPlacement() (roboplan.roboplan_ext.core.Scene method) updatePlacements() (roboplan.viser_visualizer.ViserVisualizer method)

V

v_indices (roboplan.roboplan_ext.core.JointGroupInfo property) velocities (roboplan.roboplan_ext.core.JointConfiguration property) (roboplan.roboplan_ext.core.JointTrajectory property)

ViserVisualizer (class in roboplan.viser_visualizer) visualizeJointTrajectory() (in module roboplan.visualization) visualizePath() (in module roboplan.visualization) visualizeTree() (in module roboplan.visualization)