| __init__(self, Union[None, str] urdf_filename=None, Union[None, str] urdf_string=None, Union[None, str] xacro_filename=None, Union[None, str] name=None, List[int] time_derivs=[0], Union[None, ArrayType] qddlim=None, Union[None, int] T=None, List[str] param_joints=[]) | optas.models.RobotModel | |
| optas::models::Model.__init__(self, str name, int dim, List[int] time_derivs, str symbol, Dict[int, Tuple[List[float]]] dlim, Union[None, int] T) | optas.models.Model | |
| actuated_joint_names(self) | optas.models.RobotModel | |
| add_base_frame(self, str base_link, Union[None, List[float]] xyz=None, Union[None, List[float]] rpy=None, str joint_name=None) | optas.models.RobotModel | |
| call | optas.models.RobotModel | |
| dim | optas.models.Model | |
| dlim | optas.models.Model | |
| extract_optimized_dimensions(self, ArrayType values) | optas.models.RobotModel | |
| extract_parameter_dimensions(self, ArrayType values) | optas.models.RobotModel | |
| F | optas.models.RobotModel | |
| get_actuated_joint_index(self, str joint_name) | optas.models.RobotModel | |
| get_global_link_analytical_jacobian(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_analytical_jacobian_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_angular_analytical_jacobian(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_angular_analytical_jacobian_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_angular_geometric_jacobian(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_angular_geometric_jacobian_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_axis(self, str link, ArrayType q, Union[str, ArrayType] axis) | optas.models.RobotModel | |
| get_global_link_axis_function(self, str link, Union[str, ArrayType] axis, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_geometric_jacobian(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_geometric_jacobian_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_linear_jacobian(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_linear_jacobian_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_position(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_position_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_quaternion(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_quaternion_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_rotation(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_rotation_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_rpy(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_rpy_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_global_link_transform(self, str link, ArrayType q) | optas.models.RobotModel | |
| get_global_link_transform_function(self, str link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_joint_axis(self, Joint joint) | optas.models.RobotModel | |
| get_joint_lower_limit(self, Joint joint) | optas.models.RobotModel | |
| get_joint_origin(self, Joint joint) | optas.models.RobotModel | |
| get_joint_upper_limit(self, Joint joint) | optas.models.RobotModel | |
| get_limits(self, int time_deriv) | optas.models.Model | |
| get_link_analytical_jacobian(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_analytical_jacobian_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_angular_analytical_jacobian(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_angular_analytical_jacobian_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_angular_geometric_jacobian(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_angular_geometric_jacobian_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_axis(self, str link, ArrayType q, Union[str, ArrayType] axis, str base_link) | optas.models.RobotModel | |
| get_link_axis_function(self, str link, Union[str, ArrayType] axis, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_geometric_jacobian(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_geometric_jacobian_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_linear_jacobian(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_linear_jacobian_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_position(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_position_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_quaternion(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_quaternion_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_rotation(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_rotation_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_rpy(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_rpy_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_transform(self, str link, ArrayType q, str base_link) | optas.models.RobotModel | |
| get_link_transform_function(self, str link, str base_link, int n=1, bool numpy_output=False) | optas.models.RobotModel | |
| get_link_visual_origin(self, Link link) | optas.models.RobotModel | |
| get_name(self) | optas.models.Model | |
| get_random_joint_positions(self, int n=1, Union[None, Tuple[ArrayType]] xlim=None, Union[None, Tuple[ArrayType]] ylim=None, Union[None, Tuple[ArrayType]] zlim=None, Union[None, str] base_link=None) | optas.models.RobotModel | |
| get_random_pose_in_global_link(self, str link_name) | optas.models.RobotModel | |
| get_root_link(self) | optas.models.RobotModel | |
| get_urdf(self) | optas.models.RobotModel | |
| get_urdf_dirname(self) | optas.models.RobotModel | |
| get_velocity_joint_limit(self, Joint joint) | optas.models.RobotModel | |
| in_limit(self, ArrayType x, int time_deriv) | optas.models.Model | |
| joint_names(self) | optas.models.RobotModel | |
| link_names(self) | optas.models.RobotModel | |
| lower_actuated_joint_limits(self) | optas.models.RobotModel | |
| lower_optimized_joint_limits(self) | optas.models.RobotModel | |
| make_function(self, str label, str link, Callable method, int n=1, Union[None, str] base_link=None, Union[None, cs.DM] axis=None, numpy_output=False) | optas.models.RobotModel | |
| n | optas.models.RobotModel | |
| name | optas.models.Model | |
| ndof(self) | optas.models.RobotModel | |
| num_opt_joints(self) | optas.models.RobotModel | |
| num_param_joints(self) | optas.models.RobotModel | |
| optimized_joint_indexes(self) | optas.models.RobotModel | |
| optimized_joint_names(self) | optas.models.RobotModel | |
| param_joints | optas.models.RobotModel | |
| parameter_joint_indexes(self) | optas.models.RobotModel | |
| parameter_joint_names(self) | optas.models.RobotModel | |
| rnea(self, ArrayType q, ArrayType qd, ArrayType qdd) | optas.models.RobotModel | |
| state_name(self, int time_deriv) | optas.models.Model | |
| state_optimized_name(self, int time_deriv) | optas.models.Model | |
| state_parameter_name(self, int time_deriv) | optas.models.Model | |
| symbol | optas.models.Model | |
| T | optas.models.Model | |
| time_derivs | optas.models.Model | |
| upper_actuated_joint_limits(self) | optas.models.RobotModel | |
| upper_optimized_joint_limits(self) | optas.models.RobotModel | |
| urdf | optas.models.RobotModel | |
| urdf_filename | optas.models.RobotModel | |
| urdf_string | optas.models.RobotModel | |
| velocity_actuated_joint_limits(self) | optas.models.RobotModel | |
| velocity_optimized_joint_limits(self) | optas.models.RobotModel | |
| xacro_filename | optas.models.RobotModel | |
1.9.1