__init__.py
/tmp/ws/src/exotica/exotica_python/src/pyexotica/
____init_____8py.html
pyexotica
interactive_cost_tuning.py
/tmp/ws/src/exotica/exotica_python/src/pyexotica/
interactive__cost__tuning_8py.html
pyexotica::interactive_cost_tuning::InteractiveCostTuning
pyexotica::interactive_cost_tuning
list
__all__
namespacepyexotica_1_1interactive__cost__tuning.html
a33d094f010f0b10e8a4dafc5b2da8fea
jupyter_meshcat.py
/tmp/ws/src/exotica/exotica_python/src/pyexotica/
jupyter__meshcat_8py.html
pyexotica::jupyter_meshcat
def
show
namespacepyexotica_1_1jupyter__meshcat.html
ae4aeea9155114ffd48f9dbe1bdbeae1c
(url, height=50)
list
__all__
namespacepyexotica_1_1jupyter__meshcat.html
adeca17d44dbedcf4a315fc59ded38944
planning_scene_utils.py
/tmp/ws/src/exotica/exotica_python/src/pyexotica/
planning__scene__utils_8py.html
pyexotica::planning_scene_utils
def
create_box
namespacepyexotica_1_1planning__scene__utils.html
a85c3bb96f45acb795ea943af90056ba6
(name, pose, size, frame_id='/world_frame')
def
create_mesh
namespacepyexotica_1_1planning__scene__utils.html
af724c7c270d56a511127945a62ddeaab
(name, pose, filename, scale=(1, 1, 1), frame_id='/world_frame')
def
create_plane
namespacepyexotica_1_1planning__scene__utils.html
a614f4ad14dc16e08ef9c2c66215b6535
(name, pose, normal=(0, 0, 1), offset=0, frame_id='/world_frame')
def
create_pose
namespacepyexotica_1_1planning__scene__utils.html
a015582a253fabf5db04fde4a8c9ac32d
(position, orientation, frame='/world_frame')
def
create_sphere
namespacepyexotica_1_1planning__scene__utils.html
a3a93e762e32ed2fa67a6715e17ac33ba
(name, pose, radius, frame_id='/world_frame')
publish_trajectory.py
/tmp/ws/src/exotica/exotica_python/src/pyexotica/
publish__trajectory_8py.html
pyexotica::publish_trajectory
def
plot
namespacepyexotica_1_1publish__trajectory.html
ae0d512ef846d290a3458e8d1a358c166
(solution, labels=None, yscale=None)
def
publish_pose
namespacepyexotica_1_1publish__trajectory.html
ae5b55069bcda8a6e6c3e709bca20ce59
(q, problem, t=0.0)
def
publish_time_indexed_trajectory
namespacepyexotica_1_1publish__trajectory.html
a35883112f16aa383225f072b47144406
(traj, Ts, problem, once=False)
def
publish_trajectory
namespacepyexotica_1_1publish__trajectory.html
a02728a113abeba50b4d9ef9b285dfc5d
(traj, T, problem, once=False)
def
sig_int_handler
namespacepyexotica_1_1publish__trajectory.html
a3ba11f4e87bc6efff7986d842291c589
(signal, frame)
list
__all__
namespacepyexotica_1_1publish__trajectory.html
a52bac273928ef8e4930be956a835f70c
pyexotica.cpp
/tmp/ws/src/exotica/exotica_python/src/
pyexotica_8cpp.html
pybind11::detail::type_caster< Hessian >
pybind11::detail::type_caster< Initializer >
pybind11
pybind11::detail
#define
PY_OLDSTANDARD
pyexotica_8cpp.html
a479bfbd0915f77fc2e9537dc95937e15
#define
ROS_MESSAGE_WRAPPER
pyexotica_8cpp.html
a8c936160939aee9f9fa4c4c1f5fac81e
(MessageType)
void
AddInitializers
pyexotica_8cpp.html
ae73b73806a159cd9227645eb9c997899
(py::module &module)
Hessian
array_hessian
pyexotica_8cpp.html
aa7ec28077f23e4c63508a8c4b77b3744
(pybind11::array_t< T > inArray)
Initializer
CreateInitializer
pyexotica_8cpp.html
a657f96e83a8f40c9d2a4a305005d26d2
(const Initializer &init)
PyObject *
CreateStringIOObject
pyexotica_8cpp.html
ae00623899588c22825aad60158befa22
()
py::handle
hessian_array
pyexotica_8cpp.html
a7f34baea52cac4eea6591b15c44b875d
(Hessian &inp)
bool
IsPyString
pyexotica_8cpp.html
af5a203ad03ad23d5132b989c3a594237
(PyObject *value_py)
std::pair< Initializer, Initializer >
LoadFromXML
pyexotica_8cpp.html
ae129dd3b8a279a2696bcea9af7894f45
(std::string file_name, const std::string &solver_name="", const std::string &problem_name="", bool parsePathAsXML=false)
std::string
PyAsStdString
pyexotica_8cpp.html
afac73f73433f74f2992b6f2a9081fdf3
(PyObject *value_py)
PYBIND11_MODULE
pyexotica_8cpp.html
ac3984c51fac08f90a9c6bc029b1da82f
(_pyexotica, module)
ROS_MESSAGE_WRAPPER
pyexotica_8cpp.html
a4b81f71f24e828b4df365dbc8785ca75
(moveit_msgs::PlanningScene)
ROS_MESSAGE_WRAPPER
pyexotica_8cpp.html
ac73dacc7ae6febbf4ca671977343b5d2
(moveit_msgs::PlanningSceneWorld)
PyObject *
StdStringAsPy
pyexotica_8cpp.html
a770bc9b381395110046140d10cb39580
(std::string value)
std::map< std::string, Initializer >
known_initializers
pyexotica_8cpp.html
a58274e710d56917425d7f75a37082082
setup.py
/tmp/ws/src/exotica/exotica_python/
setup_8py.html
setup
setup_args
namespacesetup.html
a504ffa482edfe0eff08f64b2f5dff0e9
test_box_qp.py
/tmp/ws/src/exotica/exotica_python/test/
test__box__qp_8py.html
test_box_qp::TestBoxQP
test_box_qp
def
check_boxqp_vs_scipy
namespacetest__box__qp.html
a0ac702c965f0f27efe4d62c874076cd6
(H, q, b_low, b_high, x_init, threshold_step_acceptance=0.1, max_iterations=100, threshold_gradient_tolerance=1e-5, regularization=1e-12, scipy_method="TNC")
def
check_boxqp_vs_scipy_impl
namespacetest__box__qp.html
ae92358bd9b574f99a835865bfb3f12c6
(H, q, b_low, b_high, x_init, threshold_step_acceptance=0.1, max_iterations=100, threshold_gradient_tolerance=1e-5, regularization=0, scipy_method="TNC", box_qp=exo.box_qp)
int
NUM_TESTS
namespacetest__box__qp.html
ac37b457dabd79f0ce8702c5f9badd51d
test_no_unknown_initializer_types.py
/tmp/ws/src/exotica/exotica_python/test/
test__no__unknown__initializer__types_8py.html
test_no_unknown_initializer_types::TestUnknownInitializerTypes
test_no_unknown_initializer_types
test_sparse_costs.py
/tmp/ws/src/exotica/exotica_python/test/
test__sparse__costs_8py.html
test_sparse_costs
def
check_derivative_1d
namespacetest__sparse__costs.html
a381172db66e2b971ea6f11591b6b99d5
(f, df, arg)
def
num_diff_1d
namespacetest__sparse__costs.html
a0f9724b87a8d375ca17b05b370c0c4fc
(method, x, arg)
def
test_huber
namespacetest__sparse__costs.html
ac6b8da942b271b48f9139fa9aea3a319
()
def
test_smooth_l1
namespacetest__sparse__costs.html
ad20f0834f461299d77160c1fc6147721
()
int
NUM_TESTS
namespacetest__sparse__costs.html
a3e6c8fe27f5e6fa8ec047dc2f81551d8
testing.py
/tmp/ws/src/exotica/exotica_python/src/pyexotica/
testing_8py.html
pyexotica::testing
def
check_dynamics_solver_derivatives
namespacepyexotica_1_1testing.html
abf23760a08a569eb01e3daffb9e576dd
(name, urdf=None, srdf=None, joint_group=None, additional_args=None, do_test_integrators=True)
def
explicit_euler
namespacepyexotica_1_1testing.html
a3ca53699654a362849faef42eb214350
(x, dx, dt, ds=None)
def
random_quaternion
namespacepyexotica_1_1testing.html
a980a3b218853309a3186c2c3f3b1c35c
()
def
random_state
namespacepyexotica_1_1testing.html
a117858f3ea53b0aabc7091127afea2de
(ds)
def
semiimplicit_euler
namespacepyexotica_1_1testing.html
a64e8897edead661f92e6605150cfef55
(x, dx, dt, ds=None)
list
__all__
namespacepyexotica_1_1testing.html
aa5a7e8b7c33d7307a158f198fd8c8275
linewidth
namespacepyexotica_1_1testing.html
a13d7d28f43c4cfaad7c8d1bd04de936a
maxsize
namespacepyexotica_1_1testing.html
abae3d7e40dbb2f1908030b629fe8c2e2
suppress
namespacepyexotica_1_1testing.html
a81e06652d0aea3723ead7d2fe3a67843
threshold
namespacepyexotica_1_1testing.html
a2bc77cfcdbf860e7ee3b5b0f98d0ad3a
True
namespacepyexotica_1_1testing.html
a1a44cc79b924f77658ccf6735c2da683
tools.py
/tmp/ws/src/exotica/exotica_python/src/pyexotica/
tools_8py.html
pyexotica::tools
def
check_trajectory_continuous_time
namespacepyexotica_1_1tools.html
a2af37b4510e0b3c56abe1bbd0e2fae9c
(scene, trajectory)
def
check_whether_trajectory_is_collision_free_by_subsampling
namespacepyexotica_1_1tools.html
a4ddc959ae40821c7864bc321c9bae6d3
(scene, trajectory, num_subsamples=10, debug=False)
def
get_colliding_links
namespacepyexotica_1_1tools.html
adcf60633ffdbfa2558a3798cb64e2836
(scene, margin=0.0, safe_distance=0.0, check_self_collision=True, debug=False)
def
plot_task_cost_over_time
namespacepyexotica_1_1tools.html
ad5c9eb005dc2522fdec71faf568c3249
(problem)
list
__all__
namespacepyexotica_1_1tools.html
a35d668612aac84ca5f0253cbb0e85d66
pyexotica::interactive_cost_tuning::InteractiveCostTuning
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
def
__init__
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
a27f50025fc7507056d241f0d3b65c998
(self, problem)
def
mainloop
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
ad5d7862c9c6e53c11b52426f95ac1666
(self)
def
quit_button
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
a31c46f7dfa5456fc0da82526b122ec8a
(self)
def
reset_button
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
a4aa2c0aad7c18c18165a8539d2202925
(self)
def
save_button
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
a91fe77cafddacf8d529da06cef14e870
(self)
def
set_button
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
abe3eefbfbc92aea537b11e78d781e9f4
(self)
cost_task_map_names
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
a9d013367ed43fcd072eec18e4f7f647c
entries
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
a6d133e5f02d5bfe96d30d0bbecfa2829
master
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
a745ce27f5bcd1d53e1cccbf6a5e5fd54
original_rho
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
ad5f7c7241a9a8ef9a3053d299b0c2030
problem
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
ae549791b4e7d8ad4a75e7e8a04e00ad4
rho
classpyexotica_1_1interactive__cost__tuning_1_1InteractiveCostTuning.html
aac421b15d6da317ea56cfa575f79e578
test_box_qp::TestBoxQP
classtest__box__qp_1_1TestBoxQP.html
def
test_big_numbers
classtest__box__qp_1_1TestBoxQP.html
a331f8c21d157abe9a5955123e0a6dc31
(self)
def
test_small_numbers
classtest__box__qp_1_1TestBoxQP.html
a0f47960a09448be5da9fddd776349e71
(self)
def
test_zero_h
classtest__box__qp_1_1TestBoxQP.html
ac14549a6a2974b5fff0b1e1af66040b8
(self)
def
test_zero_q
classtest__box__qp_1_1TestBoxQP.html
a9cbfd52eeecca8323306478a0a21285f
(self)
test_no_unknown_initializer_types::TestUnknownInitializerTypes
classtest__no__unknown__initializer__types_1_1TestUnknownInitializerTypes.html
def
test_unknown_initializer_types
classtest__no__unknown__initializer__types_1_1TestUnknownInitializerTypes.html
ab03bab72cd126543f4db4ce7b8c926c1
(self)
pybind11::detail::type_caster< Hessian >
structpybind11_1_1detail_1_1type__caster_3_01Hessian_01_4.html
bool
load
structpybind11_1_1detail_1_1type__caster_3_01Hessian_01_4.html
af42fb3edc855f2c8cc6bd8b2bb994a82
(handle src, bool)
PYBIND11_TYPE_CASTER
structpybind11_1_1detail_1_1type__caster_3_01Hessian_01_4.html
a8d46d7a935e9d557e988af67e6197ec7
(Hessian, _("Hessian"))
static handle
cast
structpybind11_1_1detail_1_1type__caster_3_01Hessian_01_4.html
adda8fd28a0a6baaeb0d81464065c17c9
(Hessian src, return_value_policy, handle)
pybind11::detail::type_caster< Initializer >
structpybind11_1_1detail_1_1type__caster_3_01Initializer_01_4.html
bool
AddPropertyFromDict
structpybind11_1_1detail_1_1type__caster_3_01Initializer_01_4.html
aa8e4d00200a4758b2c939f8ecf70e129
(Property &target, PyObject *value_py)
bool
load
structpybind11_1_1detail_1_1type__caster_3_01Initializer_01_4.html
adaed54200a8b8615fbc7f755fd27558b
(handle src, bool)
PYBIND11_TYPE_CASTER
structpybind11_1_1detail_1_1type__caster_3_01Initializer_01_4.html
aaa02e20bf4ea387736dda6a2c8748c77
(Initializer, _("Initializer"))
bool
PyToInit
structpybind11_1_1detail_1_1type__caster_3_01Initializer_01_4.html
af7768de65a9df905be92b7747cde0a56
(PyObject *source, Initializer &ret)
static void
addPropertyToDict
structpybind11_1_1detail_1_1type__caster_3_01Initializer_01_4.html
a953e4f765d1a37bf88b66e1cace3bc5b
(PyObject *dict, const std::string &name, const Property &prop)
static handle
cast
structpybind11_1_1detail_1_1type__caster_3_01Initializer_01_4.html
a4e2472b26e99f7f3ff37a5d54dca6aa6
(Initializer src, return_value_policy, handle)
static PyObject *
InitializerToTuple
structpybind11_1_1detail_1_1type__caster_3_01Initializer_01_4.html
a47806346fcbd45f2f44ed68ff8617ddc
(const Initializer &src)
pybind11
namespacepybind11.html
pybind11::detail
pybind11::detail
namespacepybind11_1_1detail.html
pybind11::detail::type_caster< Hessian >
pybind11::detail::type_caster< Initializer >
pyexotica
namespacepyexotica.html
pyexotica::interactive_cost_tuning
pyexotica::jupyter_meshcat
pyexotica::planning_scene_utils
pyexotica::publish_trajectory
pyexotica::testing
pyexotica::tools
pyexotica::interactive_cost_tuning
namespacepyexotica_1_1interactive__cost__tuning.html
pyexotica::interactive_cost_tuning::InteractiveCostTuning
list
__all__
namespacepyexotica_1_1interactive__cost__tuning.html
a33d094f010f0b10e8a4dafc5b2da8fea
pyexotica::jupyter_meshcat
namespacepyexotica_1_1jupyter__meshcat.html
def
show
namespacepyexotica_1_1jupyter__meshcat.html
ae4aeea9155114ffd48f9dbe1bdbeae1c
(url, height=50)
list
__all__
namespacepyexotica_1_1jupyter__meshcat.html
adeca17d44dbedcf4a315fc59ded38944
pyexotica::planning_scene_utils
namespacepyexotica_1_1planning__scene__utils.html
def
create_box
namespacepyexotica_1_1planning__scene__utils.html
a85c3bb96f45acb795ea943af90056ba6
(name, pose, size, frame_id='/world_frame')
def
create_mesh
namespacepyexotica_1_1planning__scene__utils.html
af724c7c270d56a511127945a62ddeaab
(name, pose, filename, scale=(1, 1, 1), frame_id='/world_frame')
def
create_plane
namespacepyexotica_1_1planning__scene__utils.html
a614f4ad14dc16e08ef9c2c66215b6535
(name, pose, normal=(0, 0, 1), offset=0, frame_id='/world_frame')
def
create_pose
namespacepyexotica_1_1planning__scene__utils.html
a015582a253fabf5db04fde4a8c9ac32d
(position, orientation, frame='/world_frame')
def
create_sphere
namespacepyexotica_1_1planning__scene__utils.html
a3a93e762e32ed2fa67a6715e17ac33ba
(name, pose, radius, frame_id='/world_frame')
pyexotica::publish_trajectory
namespacepyexotica_1_1publish__trajectory.html
def
plot
namespacepyexotica_1_1publish__trajectory.html
ae0d512ef846d290a3458e8d1a358c166
(solution, labels=None, yscale=None)
def
publish_pose
namespacepyexotica_1_1publish__trajectory.html
ae5b55069bcda8a6e6c3e709bca20ce59
(q, problem, t=0.0)
def
publish_time_indexed_trajectory
namespacepyexotica_1_1publish__trajectory.html
a35883112f16aa383225f072b47144406
(traj, Ts, problem, once=False)
def
publish_trajectory
namespacepyexotica_1_1publish__trajectory.html
a02728a113abeba50b4d9ef9b285dfc5d
(traj, T, problem, once=False)
def
sig_int_handler
namespacepyexotica_1_1publish__trajectory.html
a3ba11f4e87bc6efff7986d842291c589
(signal, frame)
list
__all__
namespacepyexotica_1_1publish__trajectory.html
a52bac273928ef8e4930be956a835f70c
pyexotica::testing
namespacepyexotica_1_1testing.html
def
check_dynamics_solver_derivatives
namespacepyexotica_1_1testing.html
abf23760a08a569eb01e3daffb9e576dd
(name, urdf=None, srdf=None, joint_group=None, additional_args=None, do_test_integrators=True)
def
explicit_euler
namespacepyexotica_1_1testing.html
a3ca53699654a362849faef42eb214350
(x, dx, dt, ds=None)
def
random_quaternion
namespacepyexotica_1_1testing.html
a980a3b218853309a3186c2c3f3b1c35c
()
def
random_state
namespacepyexotica_1_1testing.html
a117858f3ea53b0aabc7091127afea2de
(ds)
def
semiimplicit_euler
namespacepyexotica_1_1testing.html
a64e8897edead661f92e6605150cfef55
(x, dx, dt, ds=None)
list
__all__
namespacepyexotica_1_1testing.html
aa5a7e8b7c33d7307a158f198fd8c8275
linewidth
namespacepyexotica_1_1testing.html
a13d7d28f43c4cfaad7c8d1bd04de936a
maxsize
namespacepyexotica_1_1testing.html
abae3d7e40dbb2f1908030b629fe8c2e2
suppress
namespacepyexotica_1_1testing.html
a81e06652d0aea3723ead7d2fe3a67843
threshold
namespacepyexotica_1_1testing.html
a2bc77cfcdbf860e7ee3b5b0f98d0ad3a
True
namespacepyexotica_1_1testing.html
a1a44cc79b924f77658ccf6735c2da683
pyexotica::tools
namespacepyexotica_1_1tools.html
def
check_trajectory_continuous_time
namespacepyexotica_1_1tools.html
a2af37b4510e0b3c56abe1bbd0e2fae9c
(scene, trajectory)
def
check_whether_trajectory_is_collision_free_by_subsampling
namespacepyexotica_1_1tools.html
a4ddc959ae40821c7864bc321c9bae6d3
(scene, trajectory, num_subsamples=10, debug=False)
def
get_colliding_links
namespacepyexotica_1_1tools.html
adcf60633ffdbfa2558a3798cb64e2836
(scene, margin=0.0, safe_distance=0.0, check_self_collision=True, debug=False)
def
plot_task_cost_over_time
namespacepyexotica_1_1tools.html
ad5c9eb005dc2522fdec71faf568c3249
(problem)
list
__all__
namespacepyexotica_1_1tools.html
a35d668612aac84ca5f0253cbb0e85d66
setup
namespacesetup.html
setup_args
namespacesetup.html
a504ffa482edfe0eff08f64b2f5dff0e9
test_box_qp
namespacetest__box__qp.html
test_box_qp::TestBoxQP
def
check_boxqp_vs_scipy
namespacetest__box__qp.html
a0ac702c965f0f27efe4d62c874076cd6
(H, q, b_low, b_high, x_init, threshold_step_acceptance=0.1, max_iterations=100, threshold_gradient_tolerance=1e-5, regularization=1e-12, scipy_method="TNC")
def
check_boxqp_vs_scipy_impl
namespacetest__box__qp.html
ae92358bd9b574f99a835865bfb3f12c6
(H, q, b_low, b_high, x_init, threshold_step_acceptance=0.1, max_iterations=100, threshold_gradient_tolerance=1e-5, regularization=0, scipy_method="TNC", box_qp=exo.box_qp)
int
NUM_TESTS
namespacetest__box__qp.html
ac37b457dabd79f0ce8702c5f9badd51d
test_no_unknown_initializer_types
namespacetest__no__unknown__initializer__types.html
test_no_unknown_initializer_types::TestUnknownInitializerTypes
test_sparse_costs
namespacetest__sparse__costs.html
def
check_derivative_1d
namespacetest__sparse__costs.html
a381172db66e2b971ea6f11591b6b99d5
(f, df, arg)
def
num_diff_1d
namespacetest__sparse__costs.html
a0f9724b87a8d375ca17b05b370c0c4fc
(method, x, arg)
def
test_huber
namespacetest__sparse__costs.html
ac6b8da942b271b48f9139fa9aea3a319
()
def
test_smooth_l1
namespacetest__sparse__costs.html
ad20f0834f461299d77160c1fc6147721
()
int
NUM_TESTS
namespacetest__sparse__costs.html
a3e6c8fe27f5e6fa8ec047dc2f81551d8