Klampt Python API
0.9
  • Klamp’t Manual
  • Frequently asked questions (FAQ)
  • Programming notes and tips
  • Full API documentation
    • klampt.robotsim (core classes) module
    • klampt.math package
      • Basic Math Submodules
      • Optimization Submodules
      • Symbolic Submodules
      • Miscellaneous Submodules
      • Autodiff submodules
        • klampt.math.autodiff.ad module
        • klampt.math.autodiff.math_ad module
        • klampt.math.autodiff.so3_ad module
        • klampt.math.autodiff.se3_ad module
        • klampt.math.autodiff.kinematics_ad module
        • klampt.math.autodiff.dynamics_ad module
        • klampt.math.autodiff.geometry_ad module
        • klampt.math.autodiff.trajectory_ad module
        • klampt.math.autodiff.pytorch module
    • klampt.model package
    • klampt.vis package
    • klampt.sim package
    • klampt.plan package
    • klampt.io package
    • klampt.control package
Klampt Python API
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  • Full API documentation »
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  • Autodiff submodules
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Autodiff submodules¶

  • klampt.math.autodiff.ad module
    • Overview
    • Calling and evaluating functions
    • Everything evaluates to a scalar or 1D array
    • Expression DAG and performance
    • Derivatives
    • Creating your own functions
    • ad Module
    • Other Klampt ad Modules
  • klampt.math.autodiff.math_ad module
    • Module contents
  • klampt.math.autodiff.so3_ad module
    • Module contents
  • klampt.math.autodiff.se3_ad module
    • Module contents
  • klampt.math.autodiff.kinematics_ad module
  • klampt.math.autodiff.dynamics_ad module
  • klampt.math.autodiff.geometry_ad module
  • klampt.math.autodiff.trajectory_ad module
    • Module summary
  • klampt.math.autodiff.pytorch module

ad

Basic definitions for autodifferentiation.

math_ad

Basic math / linear algebra routines.

so3_ad

so3 module AD functions:

se3_ad

se3 module AD functions:

kinematics_ad

Klampt kinematics AD functions:

dynamics_ad

Klampt dynamics AD functions:

geometry_ad

Klampt geometry AD functions:

trajectory_ad

Klampt trajectory AD functions:

pytorch

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