- _ -

• __init__() : hrl_haptic_mpc.crona_sim_arms.CronaArm , hrl_haptic_mpc.gen_sim_arms.ODESimArm , hrl_haptic_mpc.waypoint_generator.WaypointGenerator , hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm , hrl_haptic_mpc.skin_client.TaxelArrayClient , hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer , hrl_haptic_mpc.haptic_mpc.MPCData , hrl_haptic_mpc.hrl_arm.HRLArmKinematics , hrl_haptic_mpc.hrl_arm.HRLArm , hrl_haptic_mpc.haptic_mpc.HapticMPC , hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers , hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL
• __str__() : hrl_haptic_mpc.haptic_mpc.MPCData

- a -

• addSkinTopic() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• addSkinTopicCallback() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• angularDistanceBetweenPoses() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• arm_config_to_points_list() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics

- c -

• clamp_to_joint_limits() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL
• closeGripperHandler() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• closeGripperPR2() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• contactForceTransformationMatrix() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• contactStiffnessMatrix() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• create_right_chain() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL
• create_solvers() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL

- d -

• deltaForceBounds() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• deltaQpJepGen() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• disablePps() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• distance_from_arm() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics
• distance_from_ee_along_arm() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics
• distanceBetweenPoses() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• distanceBetweenPostures() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator

- e -

• enableHapticMPC() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• enablePps() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers

- f -

• FK() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics
• FK_kdl() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL
• FK_vanilla() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics , hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL
• freeze() : hrl_haptic_mpc.hrl_arm.HRLArm

- g -

• generateWaypoint() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• get_end_effector_pose() : hrl_haptic_mpc.hrl_arm.HRLArm
• get_ep() : hrl_haptic_mpc.hrl_arm.HRLArm
• get_joint_angles() : hrl_haptic_mpc.hrl_arm.HRLArm
• get_joint_impedance() : hrl_haptic_mpc.hrl_arm.HRLArm
• get_joint_limits() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL , hrl_haptic_mpc.hrl_arm.HRLArmKinematics
• get_joint_names() : hrl_haptic_mpc.hrl_arm.HRLArm
• get_joint_velocities() : hrl_haptic_mpc.gen_sim_arms.ODESimArm , hrl_haptic_mpc.hrl_arm.HRLArm
• getContactLocationsFromTaxelArray() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• getDesiredJointAngles() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• getHapticStateMessage() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• getJointAngles() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• getJointStiffness() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• getMessageHeader() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer , hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• getMPCData() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• getOrientationStep() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• getPositionStep() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• getPostureFromTrajectory() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• getSkinData() : hrl_haptic_mpc.haptic_mpc.HapticMPC , hrl_haptic_mpc.skin_client.TaxelArrayClient
• getTaxelLocationAndJointList() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer , hrl_haptic_mpc.skin_client.TaxelArrayClient
• getTrimmedSkinData() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• getWaypointFromTrajectory() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• goal_feedback_rviz_cb() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• goalDeltaPosture() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• goalMotionForHand() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• goalOrientationInQuat() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• goalPoseCallback() : hrl_haptic_mpc.haptic_mpc.HapticMPC , hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• goalPositionHandler() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• goalPositionOrientationHandler() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• goalPostureCallback() : hrl_haptic_mpc.haptic_mpc.HapticMPC

- i -

• IK() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics
• IK_vanilla() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics
• impedance_params_cb() : hrl_haptic_mpc.gen_sim_arms.ODESimArm
• initCody() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer , hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• initComms() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers , hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer , hrl_haptic_mpc.waypoint_generator.WaypointGenerator , hrl_haptic_mpc.haptic_mpc.HapticMPC
• initControlParametersFromServer() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• initCrona() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer , hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• initMarkers() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• initMenu() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• initMPCData() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• initPR2() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer , hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• initRobot() : hrl_haptic_mpc.haptic_mpc.HapticMPC , hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• initSim() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• initSim3() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• initSimCody() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• interactiveMarkerLocationCallback() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• is_contact_at_joint() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics

- j -

• jacobian() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL , hrl_haptic_mpc.hrl_arm.HRLArmKinematics
• jep_cb() : hrl_haptic_mpc.gen_sim_arms.ODESimArm
• joint_rates_cb() : hrl_haptic_mpc.gen_sim_arms.ODESimArm
• joint_states_cb() : hrl_haptic_mpc.crona_sim_arms.CronaArm , hrl_haptic_mpc.gen_sim_arms.ODESimArm , hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm
• jointTrajectoryCallback() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator

- k -

• kdl_to_list() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL

- l -

• list_to_kdl() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL

- m -

• matrixListToMultiarray() : hrl_haptic_mpc.multiarray_to_matrix.MultiArrayConverter
• modifyPR2Taxels() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• modifyRobotSpecificTaxels() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• moveGripperPR2() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• mpcMonitorCallback() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• multiArrayToMatrixList() : hrl_haptic_mpc.multiarray_to_matrix.MultiArrayConverter

- o -

• openGripperHandler() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• openGripperPR2() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers

- p -

• planGoalHandler() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• plot_arm() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL
• poseTrajectoryCallback() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• publish_rviz_markers() : hrl_haptic_mpc.crona_sim_arms.CronaArm , hrl_haptic_mpc.gen_sim_arms.ODESimArm , hrl_haptic_mpc.hrl_arm.HRLArm
• publishDeltaControlValues() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• publishDesiredJointAngles() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• publishRobotState() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer

- r -

• removeSkinTopic() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• removeSkinTopicCallback() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• robotStateCallback() : hrl_haptic_mpc.haptic_mpc.HapticMPC , hrl_haptic_mpc.waypoint_generator.WaypointGenerator

- s -

• set_delta_ep_callback() : hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm
• set_delta_ep_ros() : hrl_haptic_mpc.crona_sim_arms.CronaArm , hrl_haptic_mpc.gen_sim_arms.ODESimArm
• set_ep() : hrl_haptic_mpc.crona_sim_arms.CronaArm , hrl_haptic_mpc.gen_sim_arms.ODESimArm , hrl_haptic_mpc.hrl_arm.HRLArm , hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm
• set_ep_callback() : hrl_haptic_mpc.urdf_arm_darpa_m3.URDFArm
• set_ep_ros() : hrl_haptic_mpc.crona_sim_arms.CronaArm , hrl_haptic_mpc.gen_sim_arms.ODESimArm
• set_joint_impedance() : hrl_haptic_mpc.gen_sim_arms.ODESimArm
• set_tooltip() : hrl_haptic_mpc.hrl_arm.HRLArmKinematics
• setControllerJointLimits() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• setControllerWeights() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator
• setTrimThreshold() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• signal_handler() : hrl_haptic_mpc.haptic_mpc.HapticMPC , hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• skinCallback() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• start() : hrl_haptic_mpc.haptic_mpc.HapticMPC , hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer , hrl_haptic_mpc.waypoint_generator.WaypointGenerator , hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• stopArmHandler() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers
• straightLineTrajectory() : hrl_haptic_mpc.waypoint_generator.WaypointGenerator

- t -

• transformTaxelArray() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• trimSkinContacts() : hrl_haptic_mpc.skin_client.TaxelArrayClient
• trimTaxelArray() : hrl_haptic_mpc.skin_client.TaxelArrayClient

- u -

• updateContactJacobians() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• updateController() : hrl_haptic_mpc.haptic_mpc.HapticMPC
• updateEndEffectorJacobian() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• updateEndEffectorPose() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• updateHapticState() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• updateJointStates() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• updateTorsoPose() : hrl_haptic_mpc.robot_haptic_state_node.RobotHapticStateServer
• updateWeightsCallback() : hrl_haptic_mpc.haptic_mpc.HapticMPC

- w -

• within_joint_limits() : hrl_haptic_mpc.gen_sim_arms.RobotSimulatorKDL
• wrap_angles() : hrl_haptic_mpc.crona_sim_arms.CronaArm

- z -

• zeroSkinHandler() : hrl_haptic_mpc.mpc_teleop_rviz.MPCTeleopInteractiveMarkers