OpTaS  1.0.7
An optimization-based task specification library for trajectory optimization and model predictive control.
optas.models.RobotModel Member List

This is the complete list of members for optas.models.RobotModel, including all inherited members.

__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
calloptas.models.RobotModel
dimoptas.models.Model
dlimoptas.models.Model
extract_optimized_dimensions(self, ArrayType values)optas.models.RobotModel
extract_parameter_dimensions(self, ArrayType values)optas.models.RobotModel
Foptas.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
noptas.models.RobotModel
nameoptas.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_jointsoptas.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
symboloptas.models.Model
Toptas.models.Model
time_derivsoptas.models.Model
upper_actuated_joint_limits(self)optas.models.RobotModel
upper_optimized_joint_limits(self)optas.models.RobotModel
urdfoptas.models.RobotModel
urdf_filenameoptas.models.RobotModel
urdf_stringoptas.models.RobotModel
velocity_actuated_joint_limits(self)optas.models.RobotModel
velocity_optimized_joint_limits(self)optas.models.RobotModel
xacro_filenameoptas.models.RobotModel