Index

_

__repr__() (core._core_ext.CartesianPath method) (core._core_ext.CartesianTrajectory method) (core._core_ext.JointGroupInfo method) (core._core_ext.JointPath method) (core._core_ext.JointTrajectory method) (core._core_ext.Scene method) (core.CartesianPath method) (core.CartesianTrajectory method) (core.JointGroupInfo method) (core.JointPath method) (core.JointTrajectory method) (core.Scene method)

A

accelerations (core._core_ext.JointConfiguration property) (core._core_ext.JointTrajectory property) (core.JointConfiguration property) (core.JointTrajectory property) Adaptive (toppra._toppra_ext.SplineFittingMode attribute) (toppra.SplineFittingMode attribute) addBoxGeometry() (core._core_ext.Scene method) (core.Scene method) addCylinderGeometry() (core._core_ext.Scene method) (core.Scene method)

addMeshGeometry() (core._core_ext.Scene method) (core.Scene method) addOcTreeGeometry() (core._core_ext.Scene method) (core.Scene method) addPositionPolyline() (in module visualization) addSphereGeometry() (core._core_ext.Scene method) (core.Scene method) axis_selection (optimal_ik._optimal_ik_ext.PositionBarrier property) (optimal_ik.PositionBarrier property)

B

Barrier (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) base_frame (core._core_ext.CartesianConfiguration property) (core.CartesianConfiguration property) base_frames (core._core_ext.CartesianPath property) (core._core_ext.CartesianTrajectory property) (core.CartesianPath property) (core.CartesianTrajectory property)

Box (class in core) (class in core._core_ext)

C

CartesianConfiguration (class in core) (class in core._core_ext) CartesianPath (class in core) (class in core._core_ext) CartesianTrajectory (class in core) (class in core._core_ext) check_collisions (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property) clampToValidConfiguration() (core._core_ext.Scene method) (core.Scene method) collapseContinuousJointPositions() (in module core) (in module core._core_ext) collision_check_step_size (rrt._rrt_ext.RRTOptions property) (rrt.RRTOptions property) collision_check_use_bisection (rrt._rrt_ext.RRTOptions property) (rrt.RRTOptions property) computeFrameJacobian() (core._core_ext.Scene method) (core.Scene method) computeFramePath() (in module core) (in module core._core_ext) computeStepsPerSegment() (in module interpolation) config (rrt._rrt_ext.Node property) (rrt.Node property)

config_limit_gain (optimal_ik._optimal_ik_ext.PositionLimit property) (optimal_ik.PositionLimit property) configurationDistance() (core._core_ext.Scene method) (core.Scene method) ConfigurationTask (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) ConfigurationTaskOptions (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) ConstraintAxisSelection (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) Constraints (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) CONTINUOUS (core._core_ext.JointType attribute) (core.JointType attribute) core module core._core_ext module Cubic (toppra._toppra_ext.SplineFittingMode attribute) (toppra.SplineFittingMode attribute) Cylinder (class in core) (class in core._core_ext)

D

d_min (optimal_ik._optimal_ik_ext.SelfCollisionBarrier property) (optimal_ik.SelfCollisionBarrier property) damping (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property)

dt (optimal_ik._optimal_ik_ext.Barrier property) (optimal_ik._optimal_ik_ext.VelocityLimit property) (optimal_ik.Barrier property) (optimal_ik.VelocityLimit property)

E

enforceBarriers() (optimal_ik._optimal_ik_ext.Oink method) (optimal_ik.Oink method) example_models module

example_models._example_models_ext module expandContinuousJointPositions() (in module core) (in module core._core_ext)

F

fast_return (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property) filters module filters._filters_ext module FLOATING (core._core_ext.JointType attribute) (core.JointType attribute) forwardKinematics() (core._core_ext.Scene method) (core.Scene method)

frame_id (optimal_ik._optimal_ik_ext.FrameTask property) (optimal_ik.FrameTask property) frame_name (optimal_ik._optimal_ik_ext.FrameTask property) (optimal_ik._optimal_ik_ext.PositionBarrier property) (optimal_ik.FrameTask property) (optimal_ik.PositionBarrier property) FrameTask (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) FrameTaskOptions (class in optimal_ik) (class in optimal_ik._optimal_ik_ext)

G

gain (optimal_ik._optimal_ik_ext.Barrier property) (optimal_ik._optimal_ik_ext.Task property) (optimal_ik.Barrier property) (optimal_ik.Task property) generate() (toppra._toppra_ext.PathParameterizerTOPPRA method) (toppra.PathParameterizerTOPPRA method) get_frame_position() (optimal_ik._optimal_ik_ext.PositionBarrier method) (optimal_ik.PositionBarrier method) get_install_prefix() (in module example_models) (in module example_models._example_models_ext) get_num_barriers() (optimal_ik._optimal_ik_ext.Barrier method) (optimal_ik.Barrier method) get_package_models_dir() (in module example_models) (in module example_models._example_models_ext) get_package_share_dir() (in module example_models) (in module example_models._example_models_ext) getAccelerationLimitVectors() (core._core_ext.Scene method) (core.Scene method) getCollisionGeometryIDs() (core._core_ext.Scene method) (core.Scene method) getConfigurationfromNormalizedPathScaling() (core._core_ext.PathShortcutter method) (core.PathShortcutter method) getCurrentJointPositions() (core._core_ext.Scene method) (core.Scene method) getCurrentJointPositionsWithMimics() (core._core_ext.Scene method) (core.Scene method) getFrameId() (core._core_ext.Scene method) (core.Scene method) getJerkLimitVectors() (core._core_ext.Scene method) (core.Scene method)

getJointGroupInfo() (core._core_ext.Scene method) (core.Scene method) getJointInfo() (core._core_ext.Scene method) (core.Scene method) getJointNames() (core._core_ext.Scene method) (core.Scene method) getJointNamesWithMimics() (core._core_ext.Scene method) (core.Scene method) getJointPositionIndices() (core._core_ext.Scene method) (core.Scene method) getName() (core._core_ext.Scene method) (core.Scene method) getNodes() (rrt._rrt_ext.RRT method) (rrt.RRT method) getNormalizedPathScaling() (core._core_ext.PathShortcutter method) (core.PathShortcutter method) getPathLengths() (core._core_ext.PathShortcutter method) (core.PathShortcutter method) getPositionLimitVectors() (core._core_ext.Scene method) (core.Scene method) getVelocityLimitVectors() (core._core_ext.Scene method) (core.Scene method) goal_biasing_probability (rrt._rrt_ext.RRTOptions property) (rrt.RRTOptions property) group_name (rrt._rrt_ext.RRTOptions property) (rrt.RRTOptions property) (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property)

H

has_continuous_dofs (core._core_ext.JointGroupInfo property) (core.JointGroupInfo property) hasCollisions() (core._core_ext.Scene method) (core.Scene method)

hasCollisionsAlongPath() (in module core) (in module core._core_ext) Hermite (toppra._toppra_ext.SplineFittingMode attribute) (toppra.SplineFittingMode attribute)

I

integrate() (core._core_ext.Scene method) (core.Scene method) interpolate() (core._core_ext.Scene method) (core.Scene method) interpolateCartesianPath() (in module interpolation) interpolateCartesianTrajectory() (in module interpolation) interpolateConfigurationWaypoints() (in module interpolation)

interpolateJointTrajectory() (in module interpolation) interpolation module isInitialized() (filters._filters_ext.SE3LowPassFilter method) (filters.SE3LowPassFilter method) isValidConfiguration() (core._core_ext.Scene method) (core.Scene method)

J

joint_indices (core._core_ext.JointGroupInfo property) (core.JointGroupInfo property) joint_names (core._core_ext.JointConfiguration property) (core._core_ext.JointGroupInfo property) (core._core_ext.JointPath property) (core._core_ext.JointTrajectory property) (core.JointConfiguration property) (core.JointGroupInfo property) (core.JointPath property) (core.JointTrajectory property) joint_weights (optimal_ik._optimal_ik_ext.ConfigurationTask property) (optimal_ik.ConfigurationTask property) JointConfiguration (class in core) (class in core._core_ext)

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

L

limits (core._core_ext.JointInfo property) (core.JointInfo property) lm_damping (optimal_ik._optimal_ik_ext.ConfigurationTaskOptions property) (optimal_ik._optimal_ik_ext.FrameTaskOptions property) (optimal_ik._optimal_ik_ext.Task property) (optimal_ik.ConfigurationTaskOptions property) (optimal_ik.FrameTaskOptions property) (optimal_ik.Task property)

M

max_acceleration (core._core_ext.JointLimits property) (core.JointLimits property) max_angular_error_norm (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property) max_connection_distance (rrt._rrt_ext.RRTOptions property) (rrt.RRTOptions property) max_iters (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property) max_jerk (core._core_ext.JointLimits property) (core.JointLimits property) max_linear_error_norm (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property) max_nodes (rrt._rrt_ext.RRTOptions property) (rrt.RRTOptions property) max_planning_time (rrt._rrt_ext.RRTOptions property) (rrt.RRTOptions property) max_position (core._core_ext.JointLimits property) (core.JointLimits property) max_position_error (optimal_ik._optimal_ik_ext.FrameTask property) (optimal_ik._optimal_ik_ext.FrameTaskOptions property) (optimal_ik.FrameTask property) (optimal_ik.FrameTaskOptions property) max_restarts (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property) max_rotation_error (optimal_ik._optimal_ik_ext.FrameTask property) (optimal_ik._optimal_ik_ext.FrameTaskOptions property) (optimal_ik.FrameTask property) (optimal_ik.FrameTaskOptions property)

max_time (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property) max_velocity (core._core_ext.JointLimits property) (core.JointLimits property) Mesh (class in core) (class in core._core_ext) mimic_info (core._core_ext.JointInfo property) (core.JointInfo property) mimicked_joint_name (core._core_ext.JointMimicInfo property) (core.JointMimicInfo property) min_position (core._core_ext.JointLimits property) (core.JointLimits property) module core core._core_ext example_models example_models._example_models_ext filters filters._filters_ext interpolation optimal_ik optimal_ik._optimal_ik_ext rrt rrt._rrt_ext simple_ik simple_ik._simple_ik_ext toppra toppra._toppra_ext visualization

N

n_collision_pairs (optimal_ik._optimal_ik_ext.SelfCollisionBarrier property) (optimal_ik.SelfCollisionBarrier property) Node (class in rrt) (class in rrt._rrt_ext) nq_collapsed (core._core_ext.JointGroupInfo property) (core.JointGroupInfo property) num_position_dofs (core._core_ext.JointInfo property) (core.JointInfo property)

num_variables (optimal_ik._optimal_ik_ext.Oink property) (optimal_ik._optimal_ik_ext.Task property) (optimal_ik.Oink property) (optimal_ik.Task property) num_velocity_dofs (core._core_ext.JointInfo property) (core.JointInfo property)

O

OcTree (class in core) (class in core._core_ext) offset (core._core_ext.JointMimicInfo property) (core.JointMimicInfo property) Oink (class in optimal_ik) (class in optimal_ik._optimal_ik_ext)

optimal_ik module optimal_ik._optimal_ik_ext module orientation_cost (optimal_ik._optimal_ik_ext.FrameTaskOptions property) (optimal_ik.FrameTaskOptions property)

P

p_max (optimal_ik._optimal_ik_ext.PositionBarrier property) (optimal_ik.PositionBarrier property) p_min (optimal_ik._optimal_ik_ext.PositionBarrier property) (optimal_ik.PositionBarrier property) parent_id (rrt._rrt_ext.Node property) (rrt.Node property) PathParameterizerTOPPRA (class in toppra) (class in toppra._toppra_ext) PathShortcutter (class in core) (class in core._core_ext) plan() (rrt._rrt_ext.RRT method) (rrt.RRT method) PLANAR (core._core_ext.JointType attribute) (core.JointType attribute) plotJointTrajectory() (in module visualization) position_cost (optimal_ik._optimal_ik_ext.FrameTaskOptions property) (optimal_ik.FrameTaskOptions property)

PositionBarrier (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) PositionLimit (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) positions (core._core_ext.JointConfiguration property) (core._core_ext.JointPath property) (core._core_ext.JointTrajectory property) (core.JointConfiguration property) (core.JointPath property) (core.JointTrajectory property) priority (optimal_ik._optimal_ik_ext.ConfigurationTaskOptions property) (optimal_ik._optimal_ik_ext.FrameTaskOptions property) (optimal_ik._optimal_ik_ext.Task property) (optimal_ik.ConfigurationTaskOptions property) (optimal_ik.FrameTaskOptions property) (optimal_ik.Task property) PRISMATIC (core._core_ext.JointType attribute) (core.JointType attribute)

Q

q_indices (core._core_ext.JointGroupInfo property) (core.JointGroupInfo property) (optimal_ik._optimal_ik_ext.Oink property) (optimal_ik.Oink property)

R

randomCollisionFreePositions() (core._core_ext.Scene method) (core.Scene method) randomPositions() (core._core_ext.Scene method) (core.Scene method) removeGeometry() (core._core_ext.Scene method) (core.Scene method) reset() (filters._filters_ext.SE3LowPassFilter method) (filters.SE3LowPassFilter method) REVOLUTE (core._core_ext.JointType attribute) (core.JointType attribute) roboplan (C++ type), [1], [2], [3], [4], [5] roboplan::Barrier (C++ struct) roboplan::Barrier::Barrier (C++ function) roboplan::Barrier::barrier_values (C++ member) roboplan::Barrier::computeBarrier (C++ function) roboplan::Barrier::computeJacobian (C++ function) roboplan::Barrier::computeQpInequalities (C++ function) roboplan::Barrier::computeQpObjective (C++ function) roboplan::Barrier::computeSafeDisplacement (C++ function) roboplan::Barrier::dt (C++ member) roboplan::Barrier::evaluateAtConfiguration (C++ function) roboplan::Barrier::formatQpInequalities (C++ function) roboplan::Barrier::formatQpObjective (C++ function) roboplan::Barrier::gain (C++ member) roboplan::Barrier::getNumBarriers (C++ function) roboplan::Barrier::initializeStorage (C++ function) roboplan::Barrier::jacobian_container (C++ member) roboplan::Barrier::num_variables (C++ member) roboplan::Barrier::safe_displacement_gain (C++ member) roboplan::Barrier::safety_margin (C++ member) roboplan::Barrier::~Barrier (C++ function) 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::CartesianPath (C++ struct) roboplan::CartesianPath::base_frames (C++ member) roboplan::CartesianPath::CartesianPath (C++ function), [1] roboplan::CartesianPath::operator<< (C++ function) roboplan::CartesianPath::tforms (C++ member) roboplan::CartesianPath::tip_frames (C++ member) roboplan::CartesianTrajectory (C++ struct) roboplan::CartesianTrajectory::base_frames (C++ member) roboplan::CartesianTrajectory::CartesianTrajectory (C++ function), [1] roboplan::CartesianTrajectory::operator<< (C++ function) roboplan::CartesianTrajectory::tforms (C++ member) roboplan::CartesianTrajectory::times (C++ member) roboplan::CartesianTrajectory::tip_frames (C++ member) roboplan::collapseContinuousJointPositions (C++ function) roboplan::CollisionContext (C++ class) roboplan::CollisionContext::BroadPhaseManager (C++ type) roboplan::CollisionContext::collision_model_ (C++ member) roboplan::CollisionContext::CollisionContext (C++ function), [1], [2] roboplan::CollisionContext::data_ (C++ member) roboplan::CollisionContext::geom_data_ (C++ member) roboplan::CollisionContext::hasCollisions (C++ function) roboplan::CollisionContext::manager_ (C++ member) roboplan::CollisionContext::model_ (C++ member) roboplan::CollisionContext::operator= (C++ function), [1] roboplan::CombinedStateSpace (C++ type) roboplan::computeFramePath (C++ function), [1] roboplan::ConfigurationTask (C++ struct) roboplan::ConfigurationTask::computeError (C++ function) roboplan::ConfigurationTask::computeJacobian (C++ function) roboplan::ConfigurationTask::ConfigurationTask (C++ function) roboplan::ConfigurationTask::createWeightMatrix (C++ function) roboplan::ConfigurationTask::joint_weights (C++ member) roboplan::ConfigurationTask::q_indices (C++ member) roboplan::ConfigurationTask::target_q (C++ member) roboplan::ConfigurationTask::v_indices (C++ member) roboplan::ConfigurationTaskOptions (C++ struct) roboplan::ConfigurationTaskOptions::lm_damping (C++ member) roboplan::ConfigurationTaskOptions::priority (C++ member) roboplan::ConfigurationTaskOptions::task_gain (C++ member) roboplan::ConstraintAxisSelection (C++ struct) roboplan::ConstraintAxisSelection::x (C++ member) roboplan::ConstraintAxisSelection::y (C++ member) roboplan::ConstraintAxisSelection::z (C++ member) roboplan::Constraints (C++ struct) roboplan::Constraints::computeQpConstraints (C++ function) roboplan::Constraints::getNumConstraints (C++ function) roboplan::Constraints::~Constraints (C++ function) roboplan::createFrameMap (C++ function) roboplan::createJointGroupInfo (C++ function) roboplan::Cylinder (C++ struct) roboplan::Cylinder::Cylinder (C++ function) roboplan::Cylinder::geom_ptr (C++ member) roboplan::EigenVectorPair (C++ type) 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::FrameTask (C++ struct) roboplan::FrameTask::computeError (C++ function) roboplan::FrameTask::computeJacobian (C++ function) roboplan::FrameTask::createWeightMatrix (C++ function) roboplan::FrameTask::frame_id (C++ member) roboplan::FrameTask::frame_name (C++ member) roboplan::FrameTask::FrameTask (C++ function) roboplan::FrameTask::full_jacobian (C++ member) roboplan::FrameTask::Jlog (C++ member) roboplan::FrameTask::max_position_error (C++ member) roboplan::FrameTask::max_rotation_error (C++ member) roboplan::FrameTask::setTargetFrameTransform (C++ function) roboplan::FrameTask::target_pose (C++ member) roboplan::FrameTask::v_indices (C++ member) roboplan::FrameTaskOptions (C++ struct) roboplan::FrameTaskOptions::lm_damping (C++ member) roboplan::FrameTaskOptions::max_position_error (C++ member) roboplan::FrameTaskOptions::max_rotation_error (C++ member) roboplan::FrameTaskOptions::orientation_cost (C++ member) roboplan::FrameTaskOptions::position_cost (C++ member) roboplan::FrameTaskOptions::priority (C++ member) roboplan::FrameTaskOptions::task_gain (C++ member) roboplan::hasCollisionsAlongPath (C++ function), [1] 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::jointPositionsWithMimicsFromPinocchio (C++ function) 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::kSpatialDimension (C++ member) roboplan::Mesh (C++ struct) roboplan::Mesh::geom_ptr (C++ member) roboplan::Mesh::Mesh (C++ function), [1] roboplan::Node (C++ struct) roboplan::Node::config (C++ member) roboplan::Node::Node (C++ function) roboplan::Node::parent_id (C++ member) roboplan::OcTree (C++ struct) roboplan::OcTree::geom_ptr (C++ member) roboplan::OcTree::OcTree (C++ function), [1] roboplan::Oink (C++ struct) roboplan::Oink::A_sparse (C++ member) roboplan::Oink::addTaskContribution (C++ function) roboplan::Oink::barrier_c_contribution (C++ member) roboplan::Oink::barrier_H_contribution (C++ member) roboplan::Oink::barrier_sizes (C++ member) roboplan::Oink::barrier_workspace_G (C++ member) roboplan::Oink::barrier_workspace_h (C++ member) roboplan::Oink::c (C++ member) roboplan::Oink::constraint_sizes (C++ member) roboplan::Oink::constraint_workspace_A (C++ member) roboplan::Oink::constraint_workspace_lower (C++ member) roboplan::Oink::constraint_workspace_upper (C++ member) roboplan::Oink::enforce_barriers_data (C++ member) roboplan::Oink::enforceBarriers (C++ function) roboplan::Oink::H (C++ member) roboplan::Oink::jacobian_stack (C++ member) roboplan::Oink::last_barrier_rows (C++ member) roboplan::Oink::last_constraint_rows (C++ member) roboplan::Oink::nullspace_projector (C++ member) roboplan::Oink::num_variables (C++ member) roboplan::Oink::Oink (C++ function), [1], [2], [3] roboplan::Oink::projected_weighted_jacobian (C++ member) roboplan::Oink::q_indices (C++ member) roboplan::Oink::rebuildNullspaceProjector (C++ function) roboplan::Oink::settings (C++ member) roboplan::Oink::solveIk (C++ function), [1], [2], [3] roboplan::Oink::solver (C++ member) roboplan::Oink::sorted_tasks (C++ member) roboplan::Oink::task_c (C++ member) roboplan::Oink::task_H (C++ member) roboplan::Oink::v_indices (C++ member) roboplan::Oink::weighted_error (C++ member) roboplan::PathParameterizerTOPPRA (C++ class) roboplan::PathParameterizerTOPPRA::acc_lower_limits_ (C++ member) roboplan::PathParameterizerTOPPRA::acc_upper_limits_ (C++ member) roboplan::PathParameterizerTOPPRA::continuous_q_indices_ (C++ member) roboplan::PathParameterizerTOPPRA::generate (C++ function) roboplan::PathParameterizerTOPPRA::generateCubicHermiteSpline (C++ function) roboplan::PathParameterizerTOPPRA::generateCubicSpline (C++ function) roboplan::PathParameterizerTOPPRA::getPathPositionVectors (C++ function) roboplan::PathParameterizerTOPPRA::group_name_ (C++ member)

roboplan::PathParameterizerTOPPRA::has_planar_joints_ (C++ member) roboplan::PathParameterizerTOPPRA::joint_names_ (C++ member) roboplan::PathParameterizerTOPPRA::PathParameterizerTOPPRA (C++ function) roboplan::PathParameterizerTOPPRA::q_indices_ (C++ member) 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::PositionBarrier (C++ struct) roboplan::PositionBarrier::axis_selection (C++ member) roboplan::PositionBarrier::computeBarrier (C++ function) roboplan::PositionBarrier::computeJacobian (C++ function) roboplan::PositionBarrier::evaluateAtConfiguration (C++ function) roboplan::PositionBarrier::frame_id (C++ member) roboplan::PositionBarrier::frame_name (C++ member) roboplan::PositionBarrier::full_jacobian (C++ member) roboplan::PositionBarrier::getFramePosition (C++ function) roboplan::PositionBarrier::getNumBarriers (C++ function) roboplan::PositionBarrier::p_max (C++ member) roboplan::PositionBarrier::p_min (C++ member) roboplan::PositionBarrier::PositionBarrier (C++ function) roboplan::PositionBarrier::v_indices (C++ member) roboplan::PositionLimit (C++ struct) roboplan::PositionLimit::computeQpConstraints (C++ function) roboplan::PositionLimit::config_limit_gain (C++ member) roboplan::PositionLimit::delta_q_max (C++ member) roboplan::PositionLimit::delta_q_min (C++ member) roboplan::PositionLimit::getNumConstraints (C++ function) roboplan::PositionLimit::num_variables (C++ member) roboplan::PositionLimit::PositionLimit (C++ function) roboplan::PositionLimit::q_max (C++ member) roboplan::PositionLimit::q_min (C++ member) roboplan::PositionLimit::v_indices (C++ member) roboplan::readFile (C++ function) roboplan::RRT (C++ class) roboplan::RRT::collapse (C++ function) 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::collision_check_use_bisection (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::addCylinderGeometry (C++ function) roboplan::Scene::addGeometry (C++ function) roboplan::Scene::addMeshGeometry (C++ function) roboplan::Scene::addOcTreeGeometry (C++ function) roboplan::Scene::addSphereGeometry (C++ function) roboplan::Scene::broadphase_manager_ (C++ member) roboplan::Scene::BroadPhaseManager (C++ type) roboplan::Scene::clampToValidConfiguration (C++ function) roboplan::Scene::collision_geometry_map_ (C++ member) roboplan::Scene::collision_model_ (C++ member) roboplan::Scene::collision_model_data_ (C++ member) roboplan::Scene::computeCollisionDistances (C++ function) roboplan::Scene::computeFrameJacobian (C++ function) roboplan::Scene::computeJointJacobians (C++ function) roboplan::Scene::configurationDistance (C++ function) roboplan::Scene::cur_state_ (C++ member) roboplan::Scene::forwardKinematics (C++ function) roboplan::Scene::frame_map_ (C++ member) roboplan::Scene::getAccelerationLimitVectors (C++ function) roboplan::Scene::getCollisionData (C++ function) roboplan::Scene::getCollisionGeometryIds (C++ function) roboplan::Scene::getCollisionModel (C++ function) roboplan::Scene::getCurrentJointPositions (C++ function) roboplan::Scene::getCurrentJointPositionsWithMimics (C++ function) roboplan::Scene::getData (C++ function) roboplan::Scene::getFrameId (C++ function) roboplan::Scene::getJerkLimitVectors (C++ function) roboplan::Scene::getJointGroupInfo (C++ function) roboplan::Scene::getJointInfo (C++ function) roboplan::Scene::getJointNames (C++ function) roboplan::Scene::getJointNamesWithMimics (C++ function) roboplan::Scene::getJointPositionIndices (C++ function) roboplan::Scene::getModel (C++ function) roboplan::Scene::getName (C++ function) roboplan::Scene::getPositionLimitVectors (C++ function) roboplan::Scene::getVelocityLimitVectors (C++ function) roboplan::Scene::hasCollisions (C++ function) roboplan::Scene::integrate (C++ function) roboplan::Scene::interpolate (C++ function) roboplan::Scene::isValidConfiguration (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::randomizeJointPositions (C++ function) roboplan::Scene::randomPositions (C++ function) roboplan::Scene::rebuildBroadphaseManager (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::SE3LowPassFilter (C++ class) roboplan::SE3LowPassFilter::filtered_position_ (C++ member) roboplan::SE3LowPassFilter::filtered_quaternion_ (C++ member) roboplan::SE3LowPassFilter::initialized_ (C++ member) roboplan::SE3LowPassFilter::isInitialized (C++ function) roboplan::SE3LowPassFilter::reset (C++ function) roboplan::SE3LowPassFilter::SE3LowPassFilter (C++ function) roboplan::SE3LowPassFilter::setTau (C++ function) roboplan::SE3LowPassFilter::tau (C++ function) roboplan::SE3LowPassFilter::tau_ (C++ member) roboplan::SE3LowPassFilter::update (C++ function) roboplan::SelfCollisionBarrier (C++ struct) roboplan::SelfCollisionBarrier::all_distances (C++ member) roboplan::SelfCollisionBarrier::closest_pair_indices (C++ member) roboplan::SelfCollisionBarrier::collision_model (C++ member) roboplan::SelfCollisionBarrier::computeBarrier (C++ function) roboplan::SelfCollisionBarrier::computeJacobian (C++ function) roboplan::SelfCollisionBarrier::d_min (C++ member) roboplan::SelfCollisionBarrier::eval_geom_data (C++ member) roboplan::SelfCollisionBarrier::evaluateAtConfiguration (C++ function) roboplan::SelfCollisionBarrier::full_row (C++ member) roboplan::SelfCollisionBarrier::getNumBarriers (C++ function) roboplan::SelfCollisionBarrier::joint_jacobian1 (C++ member) roboplan::SelfCollisionBarrier::joint_jacobian2 (C++ member) roboplan::SelfCollisionBarrier::n_collision_pairs (C++ member) roboplan::SelfCollisionBarrier::SelfCollisionBarrier (C++ function) roboplan::SelfCollisionBarrier::v_indices (C++ member) roboplan::SimpleIk (C++ class) roboplan::SimpleIk::data_ (C++ member) roboplan::SimpleIk::error_ (C++ member) roboplan::SimpleIk::full_jacobian_ (C++ member) roboplan::SimpleIk::jacobian_ (C++ member) roboplan::SimpleIk::jjt_ (C++ member) roboplan::SimpleIk::Jlog_ (C++ member) roboplan::SimpleIk::joint_group_info_ (C++ member) roboplan::SimpleIk::lower_position_limits_ (C++ member) roboplan::SimpleIk::options_ (C++ member) roboplan::SimpleIk::scene_ (C++ member) roboplan::SimpleIk::SimpleIk (C++ function) roboplan::SimpleIk::solveIk (C++ function), [1] roboplan::SimpleIk::upper_position_limits_ (C++ member) roboplan::SimpleIk::vel_ (C++ member) roboplan::SimpleIkOptions (C++ struct) roboplan::SimpleIkOptions::check_collisions (C++ member) roboplan::SimpleIkOptions::damping (C++ member) roboplan::SimpleIkOptions::fast_return (C++ member) roboplan::SimpleIkOptions::group_name (C++ member) roboplan::SimpleIkOptions::max_angular_error_norm (C++ member) roboplan::SimpleIkOptions::max_iters (C++ member) roboplan::SimpleIkOptions::max_linear_error_norm (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) roboplan::SplineFittingMode (C++ enum) roboplan::SplineFittingMode::Adaptive (C++ enumerator) roboplan::SplineFittingMode::Cubic (C++ enumerator) roboplan::SplineFittingMode::Hermite (C++ enumerator) roboplan::Task (C++ struct) roboplan::Task::computeError (C++ function) roboplan::Task::computeJacobian (C++ function) roboplan::Task::computeQpObjective (C++ function) roboplan::Task::error_container (C++ member) roboplan::Task::gain (C++ member) roboplan::Task::H_dense (C++ member) roboplan::Task::initializeStorage (C++ function) roboplan::Task::jacobian_container (C++ member) roboplan::Task::lm_damping (C++ member) roboplan::Task::num_variables (C++ member) roboplan::Task::priority (C++ member) roboplan::Task::Task (C++ function) roboplan::Task::weight (C++ member) roboplan::Task::~Task (C++ function) roboplan::VelocityLimit (C++ struct) roboplan::VelocityLimit::computeQpConstraints (C++ function) roboplan::VelocityLimit::dt (C++ member) roboplan::VelocityLimit::getNumConstraints (C++ function) roboplan::VelocityLimit::num_variables (C++ member) roboplan::VelocityLimit::v_max (C++ member) roboplan::VelocityLimit::VelocityLimit (C++ function) rrt module RRT (class in rrt) (class in rrt._rrt_ext) rrt._rrt_ext module rrt_connect (rrt._rrt_ext.RRTOptions property) (rrt.RRTOptions property) RRTOptions (class in rrt) (class in rrt._rrt_ext)

S

safe_displacement_gain (optimal_ik._optimal_ik_ext.Barrier property) (optimal_ik.Barrier property) safety_margin (optimal_ik._optimal_ik_ext.Barrier property) (optimal_ik.Barrier property) scaling (core._core_ext.JointMimicInfo property) (core.JointMimicInfo property) Scene (class in core) (class in core._core_ext) se3_to_viser_wxyz() (in module visualization) SE3LowPassFilter (class in filters) (class in filters._filters_ext) SelfCollisionBarrier (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) setCollisions() (core._core_ext.Scene method) (core.Scene method) setJointPositions() (core._core_ext.Scene method) (core.Scene method) setRngSeed() (core._core_ext.Scene method) (core.Scene method) (rrt._rrt_ext.RRT method) (rrt.RRT method) setTargetFrameTransform() (optimal_ik._optimal_ik_ext.FrameTask method) (optimal_ik.FrameTask method)

setTau() (filters._filters_ext.SE3LowPassFilter method) (filters.SE3LowPassFilter method) shortcut() (core._core_ext.PathShortcutter method) (core.PathShortcutter method) simple_ik module simple_ik._simple_ik_ext module SimpleIk (class in simple_ik) (class in simple_ik._simple_ik_ext) SimpleIkOptions (class in simple_ik) (class in simple_ik._simple_ik_ext) solveIk() (optimal_ik._optimal_ik_ext.Oink method) (optimal_ik.Oink method) (simple_ik._simple_ik_ext.SimpleIk method) (simple_ik.SimpleIk method) Sphere (class in core) (class in core._core_ext) SplineFittingMode (class in toppra) (class in toppra._toppra_ext) step_size (simple_ik._simple_ik_ext.SimpleIkOptions property) (simple_ik.SimpleIkOptions property)

T

target_pose (optimal_ik._optimal_ik_ext.FrameTask property) (optimal_ik.FrameTask property) target_q (optimal_ik._optimal_ik_ext.ConfigurationTask property) (optimal_ik.ConfigurationTask property) Task (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) task_gain (optimal_ik._optimal_ik_ext.ConfigurationTaskOptions property) (optimal_ik._optimal_ik_ext.FrameTaskOptions property) (optimal_ik.ConfigurationTaskOptions property) (optimal_ik.FrameTaskOptions property) tau() (filters._filters_ext.SE3LowPassFilter method) (filters.SE3LowPassFilter method) tform (core._core_ext.CartesianConfiguration property) (core.CartesianConfiguration property) tforms (core._core_ext.CartesianPath property) (core._core_ext.CartesianTrajectory property) (core.CartesianPath property) (core.CartesianTrajectory property)

times (core._core_ext.CartesianTrajectory property) (core._core_ext.JointTrajectory property) (core.CartesianTrajectory property) (core.JointTrajectory property) tip_frame (core._core_ext.CartesianConfiguration property) (core.CartesianConfiguration property) tip_frames (core._core_ext.CartesianPath property) (core._core_ext.CartesianTrajectory property) (core.CartesianPath property) (core.CartesianTrajectory property) toFullJointPositions() (core._core_ext.Scene method) (core.Scene method) toppra module toppra._toppra_ext module type (core._core_ext.JointInfo property) (core.JointInfo property)

U

UNKNOWN (core._core_ext.JointType attribute) (core.JointType attribute) update() (filters._filters_ext.SE3LowPassFilter method) (filters.SE3LowPassFilter method)

updateGeometryPlacement() (core._core_ext.Scene method) (core.Scene method)

V

v_indices (core._core_ext.JointGroupInfo property) (core.JointGroupInfo property) (optimal_ik._optimal_ik_ext.FrameTask property) (optimal_ik._optimal_ik_ext.Oink property) (optimal_ik.FrameTask property) (optimal_ik.Oink property) v_max (optimal_ik._optimal_ik_ext.VelocityLimit property) (optimal_ik.VelocityLimit property) velocities (core._core_ext.JointConfiguration property) (core._core_ext.JointTrajectory property) (core.JointConfiguration property) (core.JointTrajectory property)

VelocityLimit (class in optimal_ik) (class in optimal_ik._optimal_ik_ext) visualization module visualizeJointTrajectory() (in module visualization) visualizeOcTree() (in module visualization) visualizePath() (in module visualization) visualizePositionTrace() (in module visualization) visualizeTree() (in module rrt)

W

weight (optimal_ik._optimal_ik_ext.Task property) (optimal_ik.Task property)

X

x (optimal_ik._optimal_ik_ext.ConstraintAxisSelection property) (optimal_ik.ConstraintAxisSelection property)

Y

y (optimal_ik._optimal_ik_ext.ConstraintAxisSelection property) (optimal_ik.ConstraintAxisSelection property)

Z

z (optimal_ik._optimal_ik_ext.ConstraintAxisSelection property) (optimal_ik.ConstraintAxisSelection property)