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
  • FINITE_DIFFERENCE_RES
  • ADFunctionInterface
    • ADFunctionInterface.argname()
    • ADFunctionInterface.n_args()
    • ADFunctionInterface.n_in()
    • ADFunctionInterface.n_out()
    • ADFunctionInterface.eval()
    • ADFunctionInterface.derivative()
    • ADFunctionInterface.gen_derivative()
    • ADFunctionInterface.jvp()
  • ADTerminal
  • ADFunctionCall
    • ADFunctionCall.eval()
    • ADFunctionCall.derivative()
    • ADFunctionCall.gen_derivative()
    • ADFunctionCall.replace()
    • ADFunctionCall.terminals()
  • var()
  • function()
  • finite_differences()
  • finite_differences_hessian()
  • finite_differences_hessian2()
  • check_derivatives()
  • eval_multiple()
  • derivative_multiple()
  • add
  • sub
  • mul
  • div
  • neg
  • sum_
  • pow_
  • abs_
  • stack
  • getitem()
  • setitem()
  • minimum
  • maximum
  • cond
  • cond3
• klampt.math.autodiff.math_ad module
  • Module contents
  • ShapedDot
    • ShapedDot.n_args()
    • ShapedDot.n_in()
    • ShapedDot.n_out()
    • ShapedDot.eval()
    • ShapedDot.derivative()
    • ShapedDot.jvp()
    • ShapedDot.gen_derivative()
  • exp
  • log
  • sqrt
  • sin
  • cos
  • dot
  • linear()
  • quadratric()
  • bilinear()
  • norm
  • normSquared
  • distance
  • distanceSquared
  • unit
  • cross
  • interpolate
• klampt.math.autodiff.so3_ad module
  • Module contents
  • SIZE
  • identity()
  • inv
  • mul
  • apply
  • trace
  • from_rpy
  • rpy
  • from_rotation_vector
  • rotation_vector
  • from_quaternion
  • quaternion
  • from_axis_angle
  • axis
  • angle
  • error
  • distance
  • canonical
  • cross_product
  • diag
  • deskew
  • interpolate
  • det
• klampt.math.autodiff.se3_ad module
  • Module contents
  • SIZE
  • to_klampt()
  • from_klampt()
  • join
  • rotation
  • translation
  • identity()
  • apply
  • apply_rotation
  • mul
  • inv
  • from_rotation
  • from_translation
  • error
  • distance
  • interpolate
• klampt.math.autodiff.kinematics_ad module
  • WorldPosition
    • WorldPosition.n_args()
    • WorldPosition.n_in()
    • WorldPosition.n_out()
    • WorldPosition.eval()
    • WorldPosition.derivative()
    • WorldPosition.gen_derivative()
  • WorldDirection
    • WorldDirection.n_args()
    • WorldDirection.n_in()
    • WorldDirection.n_out()
    • WorldDirection.eval()
    • WorldDirection.derivative()
    • WorldDirection.gen_derivative()
  • WorldOrientation
    • WorldOrientation.n_args()
    • WorldOrientation.n_in()
    • WorldOrientation.n_out()
    • WorldOrientation.eval()
    • WorldOrientation.derivative()
    • WorldOrientation.gen_derivative()
  • WorldTransform
    • WorldTransform.n_args()
    • WorldTransform.n_in()
    • WorldTransform.n_out()
    • WorldTransform.eval()
    • WorldTransform.derivative()
    • WorldTransform.gen_derivative()
  • WorldVelocity
    • WorldVelocity.n_args()
    • WorldVelocity.n_in()
    • WorldVelocity.n_out()
    • WorldVelocity.eval()
    • WorldVelocity.derivative()
  • WorldAngularVelocity
    • WorldAngularVelocity.n_args()
    • WorldAngularVelocity.n_in()
    • WorldAngularVelocity.n_out()
    • WorldAngularVelocity.eval()
    • WorldAngularVelocity.derivative()
  • DriversToLinks
    • DriversToLinks.n_args()
    • DriversToLinks.n_in()
    • DriversToLinks.n_out()
    • DriversToLinks.eval()
    • DriversToLinks.jvp()
  • DriverDerivsToLinks
    • DriverDerivsToLinks.n_args()
    • DriverDerivsToLinks.n_in()
    • DriverDerivsToLinks.n_out()
    • DriverDerivsToLinks.eval()
    • DriverDerivsToLinks.jvp()
  • LinksToDrivers
    • LinksToDrivers.n_args()
    • LinksToDrivers.n_in()
    • LinksToDrivers.n_out()
    • LinksToDrivers.eval()
    • LinksToDrivers.jvp()
  • LinkDerivsToDrivers
    • LinkDerivsToDrivers.n_args()
    • LinkDerivsToDrivers.n_in()
    • LinkDerivsToDrivers.n_out()
    • LinkDerivsToDrivers.eval()
    • LinkDerivsToDrivers.jvp()
  • ConfigInterpolate
    • ConfigInterpolate.n_args()
    • ConfigInterpolate.n_in()
    • ConfigInterpolate.n_out()
    • ConfigInterpolate.eval()
  • KinematicsBuilder
    • KinematicsBuilder.world_transform()
    • KinematicsBuilder.world_position()
    • KinematicsBuilder.world_direction()
    • KinematicsBuilder.world_orientation()
    • KinematicsBuilder.world_velocity()
    • KinematicsBuilder.world_angular_velocity()
    • KinematicsBuilder.local_position()
    • KinematicsBuilder.local_direction()
    • KinematicsBuilder.inv_orientation()
• klampt.math.autodiff.dynamics_ad module
  • CenterOfMass
    • CenterOfMass.n_args()
    • CenterOfMass.n_in()
    • CenterOfMass.n_out()
    • CenterOfMass.eval()
    • CenterOfMass.derivative()
    • CenterOfMass.jvp()
  • GravityVector
    • GravityVector.n_args()
    • GravityVector.n_in()
    • GravityVector.n_out()
    • GravityVector.eval()
    • GravityVector.derivative()
    • GravityVector.jvp()
  • KineticEnergy
    • KineticEnergy.n_args()
    • KineticEnergy.n_in()
    • KineticEnergy.n_out()
    • KineticEnergy.eval()
    • KineticEnergy.derivative()
  • MassMatrix
    • MassMatrix.n_args()
    • MassMatrix.n_in()
    • MassMatrix.n_out()
    • MassMatrix.eval()
    • MassMatrix.derivative()
  • MassMatrixInv
    • MassMatrixInv.n_args()
    • MassMatrixInv.n_in()
    • MassMatrixInv.n_out()
    • MassMatrixInv.eval()
  • MomentumVector
    • MomentumVector.n_args()
    • MomentumVector.n_in()
    • MomentumVector.n_out()
    • MomentumVector.eval()
    • MomentumVector.derivative()
  • CoriolisVector
    • CoriolisVector.n_args()
    • CoriolisVector.n_in()
    • CoriolisVector.n_out()
    • CoriolisVector.eval()
  • ForwardDynamics
    • ForwardDynamics.n_args()
    • ForwardDynamics.n_in()
    • ForwardDynamics.n_out()
    • ForwardDynamics.argname()
    • ForwardDynamics.eval()
  • InverseDynamics
    • InverseDynamics.n_args()
    • InverseDynamics.n_in()
    • InverseDynamics.n_out()
    • InverseDynamics.argname()
    • InverseDynamics.eval()
  • PointForceTorques
    • PointForceTorques.n_args()
    • PointForceTorques.n_in()
    • PointForceTorques.n_out()
    • PointForceTorques.eval()
    • PointForceTorques.jvp()
  • PointWrenchTorques
    • PointWrenchTorques.n_args()
    • PointWrenchTorques.n_in()
    • PointWrenchTorques.n_out()
    • PointWrenchTorques.eval()
    • PointWrenchTorques.jvp()
  • FullDynamics
    • FullDynamics.n_args()
    • FullDynamics.n_in()
    • FullDynamics.n_out()
    • FullDynamics.argname()
    • FullDynamics.eval()
• klampt.math.autodiff.geometry_ad module
  • BoxPointMargin
    • BoxPointMargin.n_args()
    • BoxPointMargin.n_in()
    • BoxPointMargin.n_out()
    • BoxPointMargin.eval()
    • BoxPointMargin.jvp()
    • BoxPointMargin.gen_derivative()
  • BoxPointDistance
    • BoxPointDistance.n_args()
    • BoxPointDistance.n_in()
    • BoxPointDistance.n_out()
    • BoxPointDistance.eval()
    • BoxPointDistance.jvp()
  • BoxPointClosest
    • BoxPointClosest.n_args()
    • BoxPointClosest.n_in()
    • BoxPointClosest.n_out()
    • BoxPointClosest.eval()
    • BoxPointClosest.jvp()
    • BoxPointClosest.gen_derivative()
  • sphere_point_distance()
  • sphere_point_closest()
  • sphere_sphere_distance()
  • sphere_sphere_closest()
  • GeomPointDistance
    • GeomPointDistance.n_args()
    • GeomPointDistance.n_in()
    • GeomPointDistance.n_out()
    • GeomPointDistance.argname()
    • GeomPointDistance.eval()
    • GeomPointDistance.jvp()
  • GeomSphereDistance
    • GeomSphereDistance.n_args()
    • GeomSphereDistance.n_in()
    • GeomSphereDistance.n_out()
    • GeomSphereDistance.argname()
    • GeomSphereDistance.eval()
    • GeomSphereDistance.jvp()
  • GeomPointClosest
    • GeomPointClosest.n_args()
    • GeomPointClosest.n_in()
    • GeomPointClosest.n_out()
    • GeomPointClosest.argname()
    • GeomPointClosest.eval()
    • GeomPointClosest.jvp()
  • GeomGeomDistance
    • GeomGeomDistance.n_args()
    • GeomGeomDistance.n_in()
    • GeomGeomDistance.n_out()
    • GeomGeomDistance.argname()
    • GeomGeomDistance.eval()
    • GeomGeomDistance.jvp()
  • GeomRayCast
    • GeomRayCast.n_args()
    • GeomRayCast.n_in()
    • GeomRayCast.n_out()
    • GeomRayCast.argname()
    • GeomRayCast.eval()
    • GeomRayCast.jvp()
  • MinDistance
    • MinDistance.n_args()
    • MinDistance.n_in()
    • MinDistance.n_out()
    • MinDistance.argname()
    • MinDistance.eval()
    • MinDistance.jvp()
• klampt.math.autodiff.trajectory_ad module
  • Module summary
  • hermite
  • GeodesicInterpolate
    • GeodesicInterpolate.n_args()
    • GeodesicInterpolate.n_in()
    • GeodesicInterpolate.n_out()
    • GeodesicInterpolate.eval()
    • GeodesicInterpolate.jvp()
  • GeodesicDistance
    • GeodesicDistance.n_args()
    • GeodesicDistance.n_in()
    • GeodesicDistance.n_out()
    • GeodesicDistance.eval()
    • GeodesicDistance.jvp()
  • TrajectoryEval
    • TrajectoryEval.n_args()
    • TrajectoryEval.n_in()
    • TrajectoryEval.n_out()
    • TrajectoryEval.eval()
    • TrajectoryEval.derivative()
    • TrajectoryEval.jvp()
  • Trajectory
    • Trajectory.n_args()
    • Trajectory.n_in()
    • Trajectory.n_out()
    • Trajectory.eval()
    • Trajectory.jvp()
• klampt.math.autodiff.pytorch module
  • TorchModuleFunction
    • TorchModuleFunction.n_in()
    • TorchModuleFunction.n_out()
    • TorchModuleFunction.eval()
    • TorchModuleFunction.derivative()
    • TorchModuleFunction.jvp()
  • ADModule
    • ADModule.forward()
    • ADModule.backward()
    • ADModule.check_derivatives_torch()
  • torch_to_ad()
  • ad_to_torch()

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