| __init__(self, int T, List[RobotModel] robots=[], List[TaskModel] tasks=[], bool derivs_align=False) | optas.builder.OptimizationBuilder | |
| _cost(self) | optas.builder.OptimizationBuilder | private |
| _cost_terms | optas.builder.OptimizationBuilder | private |
| _decision_variables | optas.builder.OptimizationBuilder | private |
| _eq_constraints | optas.builder.OptimizationBuilder | private |
| _ineq_constraints | optas.builder.OptimizationBuilder | private |
| _is_linear_in_x(self, cs.SX y) | optas.builder.OptimizationBuilder | private |
| _lin_eq_constraints | optas.builder.OptimizationBuilder | private |
| _lin_ineq_constraints | optas.builder.OptimizationBuilder | private |
| _models | optas.builder.OptimizationBuilder | private |
| _p(self) | optas.builder.OptimizationBuilder | private |
| _parameters | optas.builder.OptimizationBuilder | private |
| _x(self) | optas.builder.OptimizationBuilder | private |
| add_bound_inequality_constraint(self, str name, CasADiArrayType lhs, CasADiArrayType mid, CasADiArrayType rhs) | optas.builder.OptimizationBuilder | |
| add_cost_term(self, str name, cs.SX cost_term) | optas.builder.OptimizationBuilder | |
| add_decision_variables(self, str name, int m=1, int n=1, bool is_discrete=False) | optas.builder.OptimizationBuilder | |
| add_equality_constraint(self, str name, CasADiArrayType lhs, Union[None, CasADiArrayType] rhs=None, reduce_constraint=False) | optas.builder.OptimizationBuilder | |
| add_geq_inequality_constraint(self, str name, CasADiArrayType lhs, Union[None, CasADiArrayType] rhs=None) | optas.builder.OptimizationBuilder | |
| add_leq_inequality_constraint(self, str name, CasADiArrayType lhs, Union[None, CasADiArrayType] rhs=None) | optas.builder.OptimizationBuilder | |
| add_parameter(self, str name, int m=1, int n=1) | optas.builder.OptimizationBuilder | |
| build(self) | optas.builder.OptimizationBuilder | |
| derivs_align | optas.builder.OptimizationBuilder | |
| enforce_model_limits(self, str name, int time_deriv=0, Union[None, CasADiArrayType] lo=None, Union[None, CasADiArrayType] up=None, safe_frac=1.0) | optas.builder.OptimizationBuilder | |
| fix_configuration(self, str name, CasADiArrayType config=None, int time_deriv=0, int t=0) | optas.builder.OptimizationBuilder | |
| get_model(self, str name) | optas.builder.OptimizationBuilder | |
| get_model_index(self, str name) | optas.builder.OptimizationBuilder | |
| get_model_names(self) | optas.builder.OptimizationBuilder | |
| get_model_parameter(self, str name, int t, int time_deriv=0) | optas.builder.OptimizationBuilder | |
| get_model_parameters(self, str name, int time_deriv=0) | optas.builder.OptimizationBuilder | |
| get_model_state(self, str name, int t, int time_deriv=0) | optas.builder.OptimizationBuilder | |
| get_model_states(self, str name, int time_deriv=0) | optas.builder.OptimizationBuilder | |
| get_robot_states_and_parameters(self, str name, int time_deriv=0) | optas.builder.OptimizationBuilder | |
| initial_configuration(self, str name, Union[None, CasADiArrayType] init=None, int time_deriv=0) | optas.builder.OptimizationBuilder | |
| integrate_model_states(self, str name, int time_deriv, CasADiArrayType dt) | optas.builder.OptimizationBuilder | |
| is_cost_quadratic(self) | optas.builder.OptimizationBuilder | |
| sphere_collision_avoidance_constraints(self, name, obstacle_names, link_names=None, base_link=None) | optas.builder.OptimizationBuilder | |
| T | optas.builder.OptimizationBuilder | |
1.9.1