Index

A

add_structure_changed_func() (trep.System method) armijo_alpha (trep.discopt.DOptimizer attribute) armijo_beta (trep.discopt.DOptimizer attribute) armijo_evaluation() (trep.discopt.DOptimizerMonitor method) armijo_max_iterations (trep.discopt.DOptimizer attribute)

armijo_search() (trep.discopt.DOptimizer method) armijo_search_failure() (trep.discopt.DOptimizerMonitor method) armijo_simulate() (trep.discopt.DOptimizer method) armijo_simulation_failure() (trep.discopt.DOptimizerMonitor method)

B

b (trep.potentials.NonlinearConfigSpring attribute) build_input() (trep.discopt.DSystem method)

build_state() (trep.discopt.DSystem method) build_trajectory() (trep.discopt.DSystem method)

C

c (trep.forces.LinearDamper attribute) calc_cost() (trep.discopt.DOptimizer method) calc_dcost() (trep.discopt.DOptimizer method) calc_ddcost() (trep.discopt.DOptimizer method) calc_descent_direction() (trep.discopt.DOptimizer method) calc_f() (trep.MidpointVI method) calc_feedback_controller() (trep.discopt.DSystem method) calc_newton_model() (trep.discopt.DOptimizer method) calc_quasi_model() (trep.discopt.DOptimizer method) calc_steepest_model() (trep.discopt.DOptimizer method) check_dcost() (in module trep.discopt) check_ddcost() (trep.discopt.DOptimizer method) check_fdu() (trep.discopt.DSystem method) check_fdudu() (trep.discopt.DSystem method) check_fdx() (trep.discopt.DSystem method) check_fdxdu() (trep.discopt.DSystem method)

check_fdxdx() (trep.discopt.DSystem method) children (trep.Frame attribute) coefficients (trep.Spline attribute) Config (class in trep) config (trep.constraints.Distance attribute) (trep.Frame attribute) (trep.forces.ConfigForce attribute) (trep.potentials.ConfigSpring attribute) (trep.potentials.NonlinearConfigSpring attribute) ConfigForce (class in trep.forces) configs (trep.System attribute) ConfigSpring (class in trep.potentials) CONST_SE3 (in module trep) const_se3() (in module trep) const_txyz() (in module trep) Constraint (class in trep) constraints (trep.System attribute) convert_trajectory() (trep.discopt.DSystem method) copy() (trep.Spline method) cost_history (trep.discopt.DOptimizerDefaultMonitor attribute)

D

Damping (class in trep.forces) DCost (class in trep.discopt) dcost_history (trep.discopt.DOptimizerDefaultMonitor attribute) ddq (trep.Config attribute) (trep.System attribute) ddqd (trep.System attribute) ddqk (trep.System attribute) ddy() (trep.Spline method) default (trep.forces.Damping attribute) descent_plot() (trep.discopt.DOptimizer method) descent_tolerance (trep.discopt.DOptimizer attribute) Distance (class in trep.constraints) distance (trep.constraints.Distance attribute)

DOptimizer (class in trep.discopt) DOptimizerDefaultMonitor (class in trep.discopt) DOptimizerMonitor (class in trep.discopt) dproject() (trep.discopt.DSystem method) dq (trep.Config attribute) (trep.System attribute) dqd (trep.System attribute) dqk (trep.System attribute) dsys (trep.discopt.DOptimizer attribute) DSystem (class in trep.discopt) dy() (trep.Spline method) dyn_configs (trep.System attribute)

E

export_frames() (trep.Frame method) (trep.System method)

F

f() (trep.discopt.DSystem method) (trep.Force method) (trep.System method) f_dddk() (trep.System method) f_dddkdq() (trep.System method) f_ddq() (trep.Force method) (trep.System method) f_ddqddq() (trep.Force method) (trep.System method) f_ddqdq() (trep.Force method) (trep.System method) f_dq() (trep.Force method) (trep.System method) f_dqdq() (trep.Force method) (trep.System method) f_du() (trep.Force method) (trep.System method) f_duddq() (trep.Force method) (trep.System method) f_dudq() (trep.Force method) (trep.System method) f_dudu() (trep.Force method) (trep.System method) fdu() (trep.discopt.DSystem method) fdudu() (trep.discopt.DSystem method) fdx() (trep.discopt.DSystem method)

fdxdu() (trep.discopt.DSystem method) fdxdx() (trep.discopt.DSystem method) finput (trep.forces.ConfigForce attribute) first_method (trep.discopt.DOptimizer attribute) first_method_iterations (trep.discopt.DOptimizer attribute) flatten_tree() (trep.Frame method) Force (class in trep) force (trep.Input attribute) forces (trep.System attribute) Frame (class in trep) frame (trep.Config attribute) (trep.forces.BodyWrench attribute) (trep.forces.HybridWrench attribute) (trep.forces.SpatialWrench attribute) frame1 (trep.constraints.Distance attribute) (trep.forces.LinearDamper attribute), [1] (trep.potentials.LinearSpring attribute), [1] frame2 (trep.constraints.Distance attribute) frames (trep.System attribute) (trep.TapeMeasure attribute)

G

g() (trep.Frame method) g_dq() (trep.Frame method) g_dqdq() (trep.Frame method) g_dqdqdq() (trep.Frame method) g_dqdqdqdq() (trep.Frame method) g_inv() (trep.Frame method) g_inv_dq() (trep.Frame method) g_inv_dqdq() (trep.Frame method) get_actual_distance() (trep.constraints.Distance method) (trep.constraints.PointToPoint1D method) (trep.constraints.PointToPoint2D method) (trep.constraints.PointToPoint3D method)

get_config() (trep.System method) get_constraint() (trep.System method) get_damping_coefficient() (trep.forces.Damping method) get_force() (trep.System method) get_frame() (trep.System method) get_input() (trep.System method) get_potential() (trep.System method) Gravity (class in trep.potentials) gravity (trep.potentials.Gravity attribute)

H

h() (trep.Constraint method) h_dq() (trep.Constraint method) h_dqdq() (trep.Constraint method)

h_dqdqdq() (trep.Constraint method) h_dqdqdqdq() (trep.Constraint method) hold_structure_changes() (trep.System method)

I

import_frames() (trep.Frame method) (trep.System method) import_urdf() (in module trep.ros) import_urdf_file() (in module trep.ros) index (trep.Config attribute) (trep.Constraint attribute) (trep.Input attribute) initialize_from_configs() (trep.MidpointVI method) initialize_from_state() (trep.MidpointVI method)

Input (class in trep) inputs (trep.System attribute) Ixx (trep.Frame attribute) Iyy (trep.Frame attribute) Izz (trep.Frame attribute)

K

k (in module trep.discopt) (trep.potentials.ConfigSpring attribute) (trep.potentials.LinearSpring attribute) k_index (trep.Config attribute) kf() (trep.discopt.DSystem method)

kin_configs (trep.System attribute) kinematic (trep.Config attribute)

L

l() (trep.discopt.DCost method) L() (trep.System method) L_ddq() (trep.System method) L_ddqddq() (trep.System method) L_ddqddqdq() (trep.System method) L_ddqddqdqdq() (trep.System method) L_ddqdq() (trep.System method) L_ddqdqdq() (trep.System method) L_ddqdqdqdq() (trep.System method) L_dq() (trep.System method) L_dqdq() (trep.System method) L_dqdqdq() (trep.System method) l_du() (trep.discopt.DCost method) l_dudu() (trep.discopt.DCost method) l_dx() (trep.discopt.DCost method) l_dxdu() (trep.discopt.DCost method) l_dxdx() (trep.discopt.DCost method) lambda1 (trep.MidpointVI attribute) lambda1_dk2() (trep.MidpointVI method) lambda1_dk2dk2() (trep.MidpointVI method) lambda1_dp1() (trep.MidpointVI method) lambda1_dp1dk2() (trep.MidpointVI method) lambda1_dp1dp1() (trep.MidpointVI method) lambda1_dp1du1() (trep.MidpointVI method) lambda1_dq1() (trep.MidpointVI method) lambda1_dq1dk2() (trep.MidpointVI method) lambda1_dq1dp1() (trep.MidpointVI method) lambda1_dq1dq1() (trep.MidpointVI method) lambda1_dq1du1() (trep.MidpointVI method) lambda1_du1() (trep.MidpointVI method) lambda1_du1dk2() (trep.MidpointVI method)

lambda1_du1du1() (trep.MidpointVI method) lambda_() (trep.System method) lambda_dddk() (trep.System method) lambda_dddkdq() (trep.System method) lambda_ddq() (trep.System method) lambda_ddqddq() (trep.System method) lambda_ddqdq() (trep.System method) lambda_dq() (trep.System method) lambda_dqdq() (trep.System method) lambda_du() (trep.System method) lambda_duddq() (trep.System method) lambda_dudq() (trep.System method) lambda_dudu() (trep.System method) length() (trep.TapeMeasure method) length_dq() (trep.TapeMeasure method) length_dqdq() (trep.TapeMeasure method) length_dqdqdq() (trep.TapeMeasure method) lg() (trep.Frame method) lg_dq() (trep.Frame method) lg_dqdq() (trep.Frame method) lg_dqdqdq() (trep.Frame method) lg_dqdqdqdq() (trep.Frame method) lg_inv() (trep.Frame method) lg_inv_dq() (trep.Frame method) lg_inv_dqdq() (trep.Frame method) lg_inv_dqdqdq() (trep.Frame method) lg_inv_dqdqdqdq() (trep.Frame method) LinearDamper (class in trep.forces) linearize_trajectory() (trep.discopt.DSystem method) LinearSpring (class in trep.potentials) load_state_trajectory() (trep.discopt.DSystem method)

M

m (trep.potentials.NonlinearConfigSpring attribute) m() (trep.discopt.DCost method) m_dx() (trep.discopt.DCost method) m_dxdx() (trep.discopt.DCost method) mass (trep.Frame attribute)

masses (trep.Config attribute) (trep.System attribute) MidpointVI (class in trep) minimize_potential_energy() (trep.System method) monitor (trep.discopt.DOptimizer attribute)

N

name (trep.Config attribute) (trep.Constraint attribute) (trep.Force attribute) (trep.Input attribute) (trep.Potential attribute) nc (trep.MidpointVI attribute) (trep.System attribute) nd (trep.MidpointVI attribute) nk (trep.MidpointVI attribute) NonlinearConfigSpring (class in trep.potentials) normal (trep.constraints.PointOnPlane attribute) nq (trep.MidpointVI attribute)

nQ (trep.System attribute) nQd (trep.System attribute) nQk (trep.System attribute) nU (trep.discopt.DSystem attribute) nu (trep.MidpointVI attribute) (trep.System attribute) nX (trep.discopt.DSystem attribute)

O

opengl_draw() (trep.Constraint method) (trep.Force method) (trep.Potential method) (trep.TapeMeasure method) (trep.potentials.Gravity method) optimize() (trep.discopt.DOptimizer method) optimize_begin() (trep.discopt.DOptimizerMonitor method)

optimize_end() (trep.discopt.DOptimizerMonitor method) optimize_ic (trep.discopt.DOptimizer attribute)

P

p() (trep.Frame method) p1 (trep.MidpointVI attribute) p2 (trep.MidpointVI attribute) p2_dk2() (trep.MidpointVI method) p2_dk2dk2() (trep.MidpointVI method) p2_dp1() (trep.MidpointVI method) p2_dp1dk2() (trep.MidpointVI method) p2_dp1dp1() (trep.MidpointVI method) p2_dp1du1() (trep.MidpointVI method) p2_dq1() (trep.MidpointVI method) p2_dq1dk2() (trep.MidpointVI method) p2_dq1dp1() (trep.MidpointVI method) p2_dq1dq1() (trep.MidpointVI method) p2_dq1du1() (trep.MidpointVI method) p2_du1() (trep.MidpointVI method) p2_du1dk2() (trep.MidpointVI method)

p2_du1du1() (trep.MidpointVI method) p_dq() (trep.Frame method) p_dqdq() (trep.Frame method) p_dqdqdq() (trep.Frame method) p_dqdqdqdq() (trep.Frame method) parent (trep.Frame attribute) plane_frame (trep.constraints.PointOnPlane attribute) point_frame (trep.constraints.PointOnPlane attribute) PointOnPlane (class in trep.constraints) PointToPoint1D (class in trep.constraints) PointToPoint2D (class in trep.constraints) PointToPoint3D (class in trep.constraints) Potential (class in trep) potentials (trep.System attribute) project() (trep.discopt.DSystem method)

Q

q (trep.Config attribute) Q (trep.discopt.DCost attribute) q (trep.System attribute) q0 (trep.potentials.ConfigSpring attribute) q1 (trep.MidpointVI attribute) q2 (trep.MidpointVI attribute) q2_dk2() (trep.MidpointVI method) q2_dk2dk2() (trep.MidpointVI method) q2_dp1() (trep.MidpointVI method) q2_dp1dk2() (trep.MidpointVI method) q2_dp1dp1() (trep.MidpointVI method) q2_dp1du1() (trep.MidpointVI method)

q2_dq1() (trep.MidpointVI method) q2_dq1dk2() (trep.MidpointVI method) q2_dq1dp1() (trep.MidpointVI method) q2_dq1dq1() (trep.MidpointVI method) q2_dq1du1() (trep.MidpointVI method) q2_du1() (trep.MidpointVI method) q2_du1dk2() (trep.MidpointVI method) q2_du1du1() (trep.MidpointVI method) qd (trep.System attribute) qk (trep.System attribute) Qproj (trep.discopt.DOptimizer attribute)

R

R (trep.discopt.DCost attribute) resume_structure_changes() (trep.System method) ROSMidpointVI (class in trep.ros) rotation_matrix() (in module trep) Rproj (trep.discopt.DOptimizer attribute) RX (in module trep)

rx() (in module trep) RY (in module trep) ry() (in module trep) RZ (in module trep) rz() (in module trep)

S

satisfy_constraints() (trep.System method) save_state_trajectory() (trep.discopt.DSystem method) second_method (trep.discopt.DOptimizer attribute) select_fallback_method() (trep.discopt.DOptimizer method) select_method() (trep.discopt.DOptimizer method) set() (trep.discopt.DSystem method) set_damping_coefficient() (trep.forces.Damping method) set_mass() (trep.Frame method) set_SE3() (trep.Frame method) set_state() (trep.System method) sleep() (trep.ros.ROSMidpointVI method) solve_tv_lq() (in module trep.discopt) solve_tv_lqr() (in module trep.discopt)

Spline (class in trep) spline (trep.potentials.NonlinearConfigSpring attribute) split_input() (trep.discopt.DSystem method) split_state() (trep.discopt.DSystem method) split_trajectory() (trep.discopt.DSystem method) step() (trep.discopt.DOptimizer method) (trep.MidpointVI method) (trep.discopt.DSystem method) (trep.ros.ROSMidpointVI method) step_begin() (trep.discopt.DOptimizerMonitor method) step_completed() (trep.discopt.DOptimizerMonitor method) step_info() (trep.discopt.DOptimizerMonitor method) step_method_failure() (trep.discopt.DOptimizerMonitor method) step_termination() (trep.discopt.DOptimizerMonitor method) System (class in trep) system (trep.Config attribute) (trep.Constraint attribute) (trep.Force attribute) (trep.Frame attribute) (trep.Input attribute) (trep.MidpointVI attribute) (trep.Potential attribute) (trep.TapeMeasure attribute) (trep.discopt.DSystem attribute)

T

t (trep.System attribute) t1 (trep.MidpointVI attribute) t2 (trep.MidpointVI attribute) TapeMeasure (class in trep) test_derivative_ddq() (trep.System method) test_derivative_dq() (trep.System method) time (trep.discopt.DSystem attribute) tolerance (trep.Constraint attribute) total_energy() (trep.System method) transform_type (trep.Frame attribute) transform_value (trep.Frame attribute) tree_view() (trep.Frame method) trep (module)

trep.constraints (module) trep.discopt (module) trep.forces (module) trep.potentials (module) trep.ros (module) twist_hat() (trep.Frame method) TX (in module trep) tx() (in module trep) TY (in module trep) ty() (in module trep) TZ (in module trep) tz() (in module trep)

U

u (trep.Input attribute) (trep.System attribute) u1 (trep.MidpointVI attribute)

uk (in module trep.discopt) uses_config() (trep.Frame method)

V

V() (trep.Potential method) v2 (trep.MidpointVI attribute) V_dq() (trep.Potential method) V_dqdq() (trep.Potential method) V_dqdqdq() (trep.Potential method) validate_h_ddq() (trep.Force method) validate_h_ddqddq() (trep.Force method) validate_h_ddqdq() (trep.Force method) validate_h_dq() (trep.Constraint method) (trep.Force method) validate_h_dqdq() (trep.Constraint method) (trep.Force method) validate_h_dqdqdq() (trep.Constraint method) validate_h_dqdqdqdq() (trep.Constraint method) validate_h_du() (trep.Force method) validate_h_duddq() (trep.Force method) validate_h_dudq() (trep.Force method) validate_h_dudu() (trep.Force method) validate_length_dq() (trep.TapeMeasure method) validate_length_dqdq() (trep.TapeMeasure method) validate_length_dqdqdq() (trep.TapeMeasure method) validate_V_dq() (trep.Potential method)

validate_V_dqdq() (trep.Potential method) validate_V_dqdqdq() (trep.Potential method) validate_velocity_ddq() (trep.TapeMeasure method) validate_velocity_ddqdq() (trep.TapeMeasure method) validate_velocity_dq() (trep.TapeMeasure method) validate_velocity_dqdq() (trep.TapeMeasure method) varint (trep.discopt.DSystem attribute) vb() (trep.Frame method) vb_ddq() (trep.Frame method) vb_ddqdq() (trep.Frame method) vb_ddqdqdq() (trep.Frame method) vb_ddqdqdqdq() (trep.Frame method) vb_dq() (trep.Frame method) vb_dqdq() (trep.Frame method) vb_dqdqdq() (trep.Frame method) velocity() (trep.TapeMeasure method) velocity_dddqdq() (trep.TapeMeasure method) velocity_ddq() (trep.TapeMeasure method) velocity_dq() (trep.TapeMeasure method) velocity_dqdq() (trep.TapeMeasure method)

W

WORLD (in module trep) world_frame (trep.System attribute)

wrench (trep.forces.BodyWrench attribute) (trep.forces.HybridWrench attribute) (trep.forces.SpatialWrench attribute) wrench_val (trep.forces.BodyWrench attribute) (trep.forces.HybridWrench attribute) (trep.forces.SpatialWrench attribute)

X

x0 (trep.potentials.LinearSpring attribute) x_points (trep.Spline attribute)

xk (in module trep.discopt)

Y

y() (trep.Spline method)

y_points (trep.Spline attribute)