klampt.control package

• klampt.control.robotinterface module
  • RobotInterfaceBase
    • RobotInterfaceBase.properties
    • RobotInterfaceBase.initialize()
    • RobotInterfaceBase.close()
    • RobotInterfaceBase.startStep()
    • RobotInterfaceBase.beginStep()
    • RobotInterfaceBase.endStep()
    • RobotInterfaceBase.numJoints()
    • RobotInterfaceBase.jointName()
    • RobotInterfaceBase.parts()
    • RobotInterfaceBase.indices()
    • RobotInterfaceBase.partInterface()
    • RobotInterfaceBase.controlRate()
    • RobotInterfaceBase.clock()
    • RobotInterfaceBase.status()
    • RobotInterfaceBase.estop()
    • RobotInterfaceBase.softStop()
    • RobotInterfaceBase.reset()
    • RobotInterfaceBase.getSettings()
    • RobotInterfaceBase.getSetting()
    • RobotInterfaceBase.setSetting()
    • RobotInterfaceBase.sensors()
    • RobotInterfaceBase.enabledSensors()
    • RobotInterfaceBase.hasSensor()
    • RobotInterfaceBase.enableSensor()
    • RobotInterfaceBase.sensorMeasurements()
    • RobotInterfaceBase.sensorUpdateTime()
    • RobotInterfaceBase.setControlMode()
    • RobotInterfaceBase.functionCall()
    • RobotInterfaceBase.isMoving()
    • RobotInterfaceBase.sensedPosition()
    • RobotInterfaceBase.sensedVelocity()
    • RobotInterfaceBase.sensedTorque()
    • RobotInterfaceBase.commandedPosition()
    • RobotInterfaceBase.commandedVelocity()
    • RobotInterfaceBase.commandedTorque()
    • RobotInterfaceBase.destinationPosition()
    • RobotInterfaceBase.destinationVelocity()
    • RobotInterfaceBase.destinationTime()
    • RobotInterfaceBase.queuedTrajectory()
    • RobotInterfaceBase.stateValue()
    • RobotInterfaceBase.cartesianPosition()
    • RobotInterfaceBase.cartesianVelocity()
    • RobotInterfaceBase.cartesianForce()
    • RobotInterfaceBase.sensedCartesianPosition()
    • RobotInterfaceBase.sensedCartesianVelocity()
    • RobotInterfaceBase.sensedCartesianForce()
    • RobotInterfaceBase.commandedCartesianPosition()
    • RobotInterfaceBase.commandedCartesianVelocity()
    • RobotInterfaceBase.commandedCartesianForce()
    • RobotInterfaceBase.destinationCartesianPosition()
    • RobotInterfaceBase.destinationCartesianVelocity()
    • RobotInterfaceBase.queuedCartesianTrajectory()
    • RobotInterfaceBase.setPosition()
    • RobotInterfaceBase.setVelocity()
    • RobotInterfaceBase.setTorque()
    • RobotInterfaceBase.setPID()
    • RobotInterfaceBase.setPIDGains()
    • RobotInterfaceBase.getPIDGains()
    • RobotInterfaceBase.moveToPosition()
    • RobotInterfaceBase.setPiecewiseLinear()
    • RobotInterfaceBase.setPiecewiseCubic()
    • RobotInterfaceBase.setToolCoordinates()
    • RobotInterfaceBase.getToolCoordinates()
    • RobotInterfaceBase.setGravityCompensation()
    • RobotInterfaceBase.getGravityCompensation()
    • RobotInterfaceBase.setCartesianPosition()
    • RobotInterfaceBase.moveToCartesianPosition()
    • RobotInterfaceBase.moveToCartesianPositionLinear()
    • RobotInterfaceBase.setCartesianVelocity()
    • RobotInterfaceBase.setCartesianForce()
    • RobotInterfaceBase.partToRobotConfig()
    • RobotInterfaceBase.robotToPartConfig()
    • RobotInterfaceBase.klamptModel()
    • RobotInterfaceBase.configFromKlampt()
    • RobotInterfaceBase.velocityFromKlampt()
    • RobotInterfaceBase.configToKlampt()
    • RobotInterfaceBase.velocityToKlampt()
    • RobotInterfaceBase.wait()
• klampt.control.robotinterfaceutils module
  • StepContext
  • make_from_file()
  • OmniRobotInterface
    • OmniRobotInterface.addPhysicalPart()
    • OmniRobotInterface.addVirtualPart()
    • OmniRobotInterface.setFilter()
    • OmniRobotInterface.setPartFilter()
    • OmniRobotInterface.setJointLimits()
    • OmniRobotInterface.setPartJointLimits()
    • OmniRobotInterface.setCollisionFilter()
    • OmniRobotInterface.initialize()
    • OmniRobotInterface.beginStep()
    • OmniRobotInterface.endStep()
    • OmniRobotInterface.partInterface()
    • OmniRobotInterface.reset()
  • RobotInterfaceCompleter
    • RobotInterfaceCompleter.numJoints()
    • RobotInterfaceCompleter.parts()
    • RobotInterfaceCompleter.addPart()
    • RobotInterfaceCompleter.initialize()
    • RobotInterfaceCompleter.close()
    • RobotInterfaceCompleter.startStep()
    • RobotInterfaceCompleter.beginStep()
    • RobotInterfaceCompleter.endStep()
    • RobotInterfaceCompleter.controlRate()
    • RobotInterfaceCompleter.clock()
    • RobotInterfaceCompleter.estop()
    • RobotInterfaceCompleter.softStop()
    • RobotInterfaceCompleter.reset()
    • RobotInterfaceCompleter.setSetting()
    • RobotInterfaceCompleter.getSetting()
    • RobotInterfaceCompleter.partInterface()
    • RobotInterfaceCompleter.jointName()
    • RobotInterfaceCompleter.setControlMode()
    • RobotInterfaceCompleter.functionCall()
    • RobotInterfaceCompleter.setFilter()
    • RobotInterfaceCompleter.setJointLimits()
    • RobotInterfaceCompleter.setCollisionFilter()
    • RobotInterfaceCompleter.sensors()
    • RobotInterfaceCompleter.enabledSensors()
    • RobotInterfaceCompleter.hasSensor()
    • RobotInterfaceCompleter.enableSensor()
    • RobotInterfaceCompleter.sensorMeasurements()
    • RobotInterfaceCompleter.sensorUpdateTime()
    • RobotInterfaceCompleter.setPosition()
    • RobotInterfaceCompleter.setVelocity()
    • RobotInterfaceCompleter.setTorque()
    • RobotInterfaceCompleter.setPID()
    • RobotInterfaceCompleter.setPIDGains()
    • RobotInterfaceCompleter.getPIDGains()
    • RobotInterfaceCompleter.moveToPosition()
    • RobotInterfaceCompleter.setPiecewiseLinear()
    • RobotInterfaceCompleter.setPiecewiseCubic()
    • RobotInterfaceCompleter.setToolCoordinates()
    • RobotInterfaceCompleter.getToolCoordinates()
    • RobotInterfaceCompleter.setGravityCompensation()
    • RobotInterfaceCompleter.getGravityCompensation()
    • RobotInterfaceCompleter.setCartesianPosition()
    • RobotInterfaceCompleter.moveToCartesianPosition()
    • RobotInterfaceCompleter.moveToCartesianPositionLinear()
    • RobotInterfaceCompleter.setCartesianVelocity()
    • RobotInterfaceCompleter.setCartesianForce()
    • RobotInterfaceCompleter.status()
    • RobotInterfaceCompleter.isMoving()
    • RobotInterfaceCompleter.sensedPosition()
    • RobotInterfaceCompleter.sensedVelocity()
    • RobotInterfaceCompleter.sensedTorque()
    • RobotInterfaceCompleter.commandedPosition()
    • RobotInterfaceCompleter.commandedVelocity()
    • RobotInterfaceCompleter.commandedTorque()
    • RobotInterfaceCompleter.destinationPosition()
    • RobotInterfaceCompleter.destinationVelocity()
    • RobotInterfaceCompleter.destinationTime()
    • RobotInterfaceCompleter.stateValue()
    • RobotInterfaceCompleter.cartesianPosition()
    • RobotInterfaceCompleter.cartesianVelocity()
    • RobotInterfaceCompleter.cartesianForce()
    • RobotInterfaceCompleter.sensedCartesianPosition()
    • RobotInterfaceCompleter.sensedCartesianVelocity()
    • RobotInterfaceCompleter.sensedCartesianForce()
    • RobotInterfaceCompleter.commandedCartesianPosition()
    • RobotInterfaceCompleter.commandedCartesianVelocity()
    • RobotInterfaceCompleter.commandedCartesianForce()
    • RobotInterfaceCompleter.destinationCartesianPosition()
    • RobotInterfaceCompleter.destinationCartesianVelocity()
    • RobotInterfaceCompleter.partToRobotConfig()
    • RobotInterfaceCompleter.klamptModel()
    • RobotInterfaceCompleter.configFromKlampt()
    • RobotInterfaceCompleter.velocityFromKlampt()
    • RobotInterfaceCompleter.configToKlampt()
    • RobotInterfaceCompleter.velocityToKlampt()
    • RobotInterfaceCompleter.printStatus()
  • LimitFilter
  • BrakeLimitFilter
  • CartesianLimitFilter
  • SelfCollisionFilter
  • CollisionFilter
  • DifferenceFilter
    • DifferenceFilter.advance()
  • LoggingFilter
    • LoggingFilter.advance()
  • klamptCartesianPosition()
  • klamptCartesianVelocity()
  • klamptCartesianForce()
  • ThreadedRobotInterface
    • ThreadedRobotInterface.log()
    • ThreadedRobotInterface.initialize()
    • ThreadedRobotInterface.close()
  • MultiprocessingRobotInterface
    • MultiprocessingRobotInterface.log()
    • MultiprocessingRobotInterface.initialize()
    • MultiprocessingRobotInterface.close()
  • RobotInterfaceEmulator
    • RobotInterfaceEmulator.CONTROL_MODES
    • RobotInterfaceEmulator.cartesianInterfaces
    • RobotInterfaceEmulator.stateFilters
    • RobotInterfaceEmulator.commandFilters
    • RobotInterfaceEmulator.virtualSensorMeasurements
    • RobotInterfaceEmulator.initialize()
    • RobotInterfaceEmulator.advanceClock()
    • RobotInterfaceEmulator.update()
    • RobotInterfaceEmulator.sendToInterface()
    • RobotInterfaceEmulator.desiredControlMode()
    • RobotInterfaceEmulator.getCommand()
    • RobotInterfaceEmulator.onBaseCommand()
    • RobotInterfaceEmulator.promote()
    • RobotInterfaceEmulator.setFilter()
    • RobotInterfaceEmulator.setJointLimits()
    • RobotInterfaceEmulator.setCollisionFilter()
    • RobotInterfaceEmulator.commandFilter()
    • RobotInterfaceEmulator.reset()
    • RobotInterfaceEmulator.softStop()
    • RobotInterfaceEmulator.estop()
    • RobotInterfaceEmulator.setPosition()
    • RobotInterfaceEmulator.moveToPosition()
    • RobotInterfaceEmulator.setVelocity()
    • RobotInterfaceEmulator.setTorque()
    • RobotInterfaceEmulator.setPID()
    • RobotInterfaceEmulator.setPIDGains()
    • RobotInterfaceEmulator.getPIDGains()
    • RobotInterfaceEmulator.setPiecewiseLinear()
    • RobotInterfaceEmulator.setPiecewiseCubic()
    • RobotInterfaceEmulator.isMoving()
    • RobotInterfaceEmulator.commandedPosition()
    • RobotInterfaceEmulator.commandedVelocity()
    • RobotInterfaceEmulator.commandedTorque()
    • RobotInterfaceEmulator.sensedPosition()
    • RobotInterfaceEmulator.sensedVelocity()
    • RobotInterfaceEmulator.destinationPosition()
    • RobotInterfaceEmulator.destinationVelocity()
    • RobotInterfaceEmulator.destinationTime()
    • RobotInterfaceEmulator.setToolCoordinates()
    • RobotInterfaceEmulator.getToolCoordinates()
    • RobotInterfaceEmulator.setGravityCompensation()
    • RobotInterfaceEmulator.getGravityCompensation()
    • RobotInterfaceEmulator.setCartesianPosition()
    • RobotInterfaceEmulator.moveToCartesianPosition()
    • RobotInterfaceEmulator.moveToCartesianPositionLinear()
    • RobotInterfaceEmulator.setCartesianVelocity()
    • RobotInterfaceEmulator.setCartesianForce()
    • RobotInterfaceEmulator.cartesianPosition()
    • RobotInterfaceEmulator.cartesianVelocity()
    • RobotInterfaceEmulator.cartesianForce()
    • RobotInterfaceEmulator.printStatus()
  • RobotInterfaceLogger
    • RobotInterfaceLogger.TEST_PROPERTIES
    • RobotInterfaceLogger.TEST_METHODS
    • RobotInterfaceLogger.step()
    • RobotInterfaceLogger.stop()
  • RobotInterfaceRecorder
    • RobotInterfaceRecorder.step()
    • RobotInterfaceRecorder.stop()
    • RobotInterfaceRecorder.done()
• klampt.control.simrobotinterface module
  • SimPositionControlInterface
    • SimPositionControlInterface.setPosition()
    • SimPositionControlInterface.sensedPosition()
    • SimPositionControlInterface.commandedPosition()
  • SimVelocityControlInterface
    • SimVelocityControlInterface.setVelocity()
    • SimVelocityControlInterface.sensedPosition()
    • SimVelocityControlInterface.commandedPosition()
  • SimMoveToControlInterface
    • SimMoveToControlInterface.moveToPosition()
    • SimMoveToControlInterface.sensedPosition()
    • SimMoveToControlInterface.commandedPosition()
    • SimMoveToControlInterface.isMoving()
  • SimFullControlInterface
    • SimFullControlInterface.setPosition()
    • SimFullControlInterface.setVelocity()
    • SimFullControlInterface.setTorque()
    • SimFullControlInterface.setPID()
    • SimFullControlInterface.setPIDGains()
    • SimFullControlInterface.setPiecewiseLinear()
    • SimFullControlInterface.setPiecewiseCubic()
    • SimFullControlInterface.moveToPosition()
    • SimFullControlInterface.isMoving()
    • SimFullControlInterface.sensedPosition()
    • SimFullControlInterface.sensedVelocity()
    • SimFullControlInterface.sensedTorque()
    • SimFullControlInterface.commandedVelocity()
    • SimFullControlInterface.commandedTorque()
    • SimFullControlInterface.commandedPosition()
  • KinematicSimControlInterface
    • KinematicSimControlInterface.klamptModel()
    • KinematicSimControlInterface.parts()
    • KinematicSimControlInterface.controlRate()
    • KinematicSimControlInterface.sensors()
    • KinematicSimControlInterface.enabledSensors()
    • KinematicSimControlInterface.sensorMeasurements()
    • KinematicSimControlInterface.endStep()
    • KinematicSimControlInterface.status()
    • KinematicSimControlInterface.setPosition()
    • KinematicSimControlInterface.reset()
    • KinematicSimControlInterface.sensedPosition()
    • KinematicSimControlInterface.commandedPosition()
  • make()
• klampt.control.networkrobotinterface module
  • ClientRobotInterfaceBase
    • ClientRobotInterfaceBase.connect()
    • ClientRobotInterfaceBase.disconnect()
    • ClientRobotInterfaceBase.getInitialData()
    • ClientRobotInterfaceBase.updateSettingsAndCommands()
    • ClientRobotInterfaceBase.partInterface()
    • ClientRobotInterfaceBase.initialize()
    • ClientRobotInterfaceBase.close()
    • ClientRobotInterfaceBase.beginStep()
    • ClientRobotInterfaceBase.endStep()
    • ClientRobotInterfaceBase.reset()
  • ServerRobotInterfaceBase
    • ServerRobotInterfaceBase.getInitialData_impl()
    • ServerRobotInterfaceBase.updateSettingsAndCommands_impl()
    • ServerRobotInterfaceBase.initialize()
    • ServerRobotInterfaceBase.startController()
    • ServerRobotInterfaceBase.stop()
    • ServerRobotInterfaceBase.close()
  • XMLRPCRobotInterfaceServer
    • XMLRPCRobotInterfaceServer.log()
    • XMLRPCRobotInterfaceServer.serve()
    • XMLRPCRobotInterfaceServer.getInitialData()
    • XMLRPCRobotInterfaceServer.updateSettingsAndCommands()
  • XMLRPCRobotInterfaceClient
    • XMLRPCRobotInterfaceClient.connect()
    • XMLRPCRobotInterfaceClient.disconnect()
    • XMLRPCRobotInterfaceClient.getInitialData()
    • XMLRPCRobotInterfaceClient.updateSettingsAndCommands()
• klampt.control.interop module
  • SimRobotControllerToInterface
    • SimRobotControllerToInterface.initialize()
    • SimRobotControllerToInterface.beginStep()
    • SimRobotControllerToInterface.endStep()
    • SimRobotControllerToInterface.model()
    • SimRobotControllerToInterface.setRate()
    • SimRobotControllerToInterface.getRate()
    • SimRobotControllerToInterface.getCommandedConfig()
    • SimRobotControllerToInterface.getCommandedVelocity()
    • SimRobotControllerToInterface.getCommandedTorque()
    • SimRobotControllerToInterface.getSensedConfig()
    • SimRobotControllerToInterface.getSensedVelocity()
    • SimRobotControllerToInterface.getSensedTorque()
    • SimRobotControllerToInterface.sensor()
    • SimRobotControllerToInterface.commands()
    • SimRobotControllerToInterface.sendCommand()
    • SimRobotControllerToInterface.getSetting()
    • SimRobotControllerToInterface.setSetting()
    • SimRobotControllerToInterface.setMilestone()
    • SimRobotControllerToInterface.addMilestone()
    • SimRobotControllerToInterface.addMilestoneLinear()
    • SimRobotControllerToInterface.setLinear()
    • SimRobotControllerToInterface.setCubic()
    • SimRobotControllerToInterface.addLinear()
    • SimRobotControllerToInterface.addCubic()
    • SimRobotControllerToInterface.remainingTime()
    • SimRobotControllerToInterface.setVelocity()
    • SimRobotControllerToInterface.setTorque()
    • SimRobotControllerToInterface.setPIDCommand()
    • SimRobotControllerToInterface.setManualMode()
    • SimRobotControllerToInterface.getControlType()
    • SimRobotControllerToInterface.setPIDGains()
    • SimRobotControllerToInterface.getPIDGains()
  • RobotControllerBlockToInterface
    • RobotControllerBlockToInterface.advance()
  • RobotInterfacetoVis
    • RobotInterfacetoVis.update()
• klampt.control.blocks package
  • klampt.control.blocks.robotcontroller module
    • Binding robot controllers to a robot
    • RobotControllerBlock
    • RobotControllerIO
      • RobotControllerIO.time()
      • RobotControllerIO.timeStep()
      • RobotControllerIO.commandedConfiguration()
      • RobotControllerIO.commandedVelocity()
      • RobotControllerIO.sensedConfiguration()
      • RobotControllerIO.sensedVelocity()
      • RobotControllerIO.sensedTorque()
      • RobotControllerIO.sensorNames()
      • RobotControllerIO.sensorValue()
      • RobotControllerIO.makePositionCommand()
      • RobotControllerIO.makePIDCommand()
      • RobotControllerIO.makeFeedforwardPIDCommand()
      • RobotControllerIO.makeVelocityCommand()
      • RobotControllerIO.makeTorqueCommand()
      • RobotControllerIO.setPositionCommand()
      • RobotControllerIO.setPIDCommand()
      • RobotControllerIO.setFeedforwardPIDCommand()
      • RobotControllerIO.setVelocityCommand()
      • RobotControllerIO.setTorqueCommand()
      • RobotControllerIO.setJointPositionCommand()
      • RobotControllerIO.setJointVelocityCommand()
      • RobotControllerIO.makeCommand()
  • klampt.control.blocks.utils module
    • BlockSignal
      • BlockSignal.signal
    • SignalBlock
      • SignalBlock.advance()
    • LambdaBlock
      • LambdaBlock.advance()
    • LinearBlock
      • LinearBlock.advance()
    • Concatenate
      • Concatenate.advance()
    • Clamp
      • Clamp.advance()
    • LimitExceeded
      • LimitExceeded.advance()
    • Distance
      • Distance.advance()
    • WorldCollision
      • WorldCollision.advance()
    • If
      • If.advance()
    • Mux
      • Mux.advance()
  • klampt.control.blocks.filters module
    • FIRFilter
      • FIRFilter.advance()
      • FIRFilter.signal()
  • klampt.control.blocks.state_machine module
    • StateMachineBase
      • StateMachineBase.blocks
      • StateMachineBase.current
      • StateMachineBase.start
      • StateMachineBase.next_state()
      • StateMachineBase.signal()
      • StateMachineBase.advance()
      • StateMachineBase.func()
    • TransitionStateMachine
      • TransitionStateMachine.blocks
      • TransitionStateMachine.current
      • TransitionStateMachine.transitions
      • TransitionStateMachine.set_transition()
      • TransitionStateMachine.next_state()
    • TimedSequenceBlock
  • klampt.control.blocks.trajectory_tracking module
    • TrajectoryPositionController
      • TrajectoryPositionController.advance()
      • TrajectoryPositionController.signal()
    • TrajectoryWithFeedforwardTorqueController
      • TrajectoryWithFeedforwardTorqueController.advance()
      • TrajectoryWithFeedforwardTorqueController.signal()
    • make()
  • Module contents
    • Block
      • Block.advance()
      • Block.signal()
      • Block.debug()
    • SuperBlock
      • SuperBlock.advance()
      • SuperBlock.signal()
      • SuperBlock.debug()
    • Source
    • Sink
• klampt.control.io package
  • klampt.control.io.roscontroller module
    • RosRobotBlock
      • RosRobotBlock.jointTrajectoryCallback()
      • RosRobotBlock.set_index()
      • RosRobotBlock.advance()
      • RosRobotBlock.map_output()
    • RosTimeBlock
      • RosTimeBlock.advance()
    • make()
  • klampt.control.io.rosinterface module
    • RosRobotInterface
      • RosRobotInterface.initialize()
      • RosRobotInterface.close()
      • RosRobotInterface.jointStateCallback()
      • RosRobotInterface.klamptModel()
      • RosRobotInterface.clock()
      • RosRobotInterface.status()
      • RosRobotInterface.commandedPosition()
      • RosRobotInterface.sensedPosition()
      • RosRobotInterface.sensedVelocity()
      • RosRobotInterface.sensedTorque()
      • RosRobotInterface.setPiecewiseLinear()
    • make()
  • klampt.control.io.serialcontroller module
    • packStrlen()
    • unpackStrlen()
    • writeSocket()
    • readSocket()
    • JsonClient
      • JsonClient.handle_connect()
      • JsonClient.handle_close()
      • JsonClient.handle_read()
      • JsonClient.writable()
      • JsonClient.handle_write()
      • JsonClient.onMessage()
      • JsonClient.sendMessage()
      • JsonClient.read()
      • JsonClient.recv()
    • ControllerClient
      • ControllerClient.handle_expt()
      • ControllerClient.handle_error()
      • ControllerClient.handle_connect()
      • ControllerClient.onMessage()
    • JsonSerialController
      • JsonSerialController.accept()
      • JsonSerialController.advance()
    • make()
• klampt.control.cartesian_drive module
  • CartesianDriveSolver
    • CartesianDriveSolver.robot
    • CartesianDriveSolver.positionTolerance
    • CartesianDriveSolver.rotationTolerance
    • CartesianDriveSolver.links
    • CartesianDriveSolver.baseLinks
    • CartesianDriveSolver.endEffectorOffsets
    • CartesianDriveSolver.driveTransforms
    • CartesianDriveSolver.ikGoals
    • CartesianDriveSolver.qmin
    • CartesianDriveSolver.qmax
    • CartesianDriveSolver.vmin
    • CartesianDriveSolver.vmax
    • CartesianDriveSolver.solver
    • CartesianDriveSolver.driveSpeedAdjustment
    • CartesianDriveSolver.start()
    • CartesianDriveSolver.setTolerance()
    • CartesianDriveSolver.setMaxIters()
    • CartesianDriveSolver.setActiveDofs()
    • CartesianDriveSolver.setJointLimits()
    • CartesianDriveSolver.setVelocityLimits()
    • CartesianDriveSolver.drive()
    • CartesianDriveSolver.getTrajectory()
  • axis_rotation_magnitude()
  • normalize_rotation()
• klampt.control.motion_generation module
  • VelocityBoundedMotionGeneration
    • VelocityBoundedMotionGeneration.remainingTime()
    • VelocityBoundedMotionGeneration.reset()
    • VelocityBoundedMotionGeneration.update()
    • VelocityBoundedMotionGeneration.setTarget()
    • VelocityBoundedMotionGeneration.setVelocity()
    • VelocityBoundedMotionGeneration.brake()
    • VelocityBoundedMotionGeneration.duration()
    • VelocityBoundedMotionGeneration.target()
    • VelocityBoundedMotionGeneration.predict()
    • VelocityBoundedMotionGeneration.trajectory()
  • AccelerationBoundedMotionGeneration
    • AccelerationBoundedMotionGeneration.remainingTime()
    • AccelerationBoundedMotionGeneration.reset()
    • AccelerationBoundedMotionGeneration.update()
    • AccelerationBoundedMotionGeneration.setTarget()
    • AccelerationBoundedMotionGeneration.setVelocity()
    • AccelerationBoundedMotionGeneration.brake()
    • AccelerationBoundedMotionGeneration.duration()
    • AccelerationBoundedMotionGeneration.target()
    • AccelerationBoundedMotionGeneration.predict()
    • AccelerationBoundedMotionGeneration.trajectory()

robotinterface	The main module for Klampt's Robot Interface Layer.
robotinterfaceutils	Contains utilities for the Klampt Robot Interface Layer.
simrobotinterface	Used for testing code that works with the Klamp't Robot Interface Layer on a simualted robot.
interop	Defines utilities for connecting simulation controllers to the Robot Interface Layer, and connect ControllerBlocks to RobotInterfaceBase receivers.
blocks
io
cartesian_drive
motion_generation