klampt.plan.kinetrajopt module

Summary

A collision-free optimization algorithm, with the main entry point being the KineTrajOpt class.

Importing the kinetrajopt module puts KineTrajOpt and TrajOptSettings into the module namespace.

• klampt.plan.kinetrajopt.kinetrajopt module
  • TrajOptSettings
  • JointObjectInfo
  • SweepJointObjectInfo
  • QPException
  • KineTrajOpt
    • KineTrajOpt.set_q0()
    • KineTrajOpt.set_qf()
    • KineTrajOpt.add_pose_constraint()
    • KineTrajOpt.add_position_constraint()
    • KineTrajOpt.add_orientation_constraint()
    • KineTrajOpt.add_direction_constraint()
    • KineTrajOpt.optimize()
    • KineTrajOpt.compute_costs()
    • KineTrajOpt.collision_satisfy()
    • KineTrajOpt.constrs_satisfy()
    • KineTrajOpt.solve_qp_with_tr_size()
    • KineTrajOpt.build_qp()
    • KineTrajOpt.create_geometry_cache()
    • KineTrajOpt.distance_with_one_link()
    • KineTrajOpt.all_linkgeom_transforms()
    • KineTrajOpt.find_collision_pair()
• klampt.plan.kinetrajopt.utils module
  • CostInterface
    • CostInterface.compute()
  • ConstrInterface
    • ConstrInterface.compute()
  • ConstrContainer
    • ConstrContainer.add_eq()
    • ConstrContainer.add_ineq()
    • ConstrContainer.merge()
  • JointLimitsConstr
    • JointLimitsConstr.compute()
  • MaskedRobot
    • MaskedRobot.setConfig()
    • MaskedRobot.positionJacobian()
    • MaskedRobot.orientationJacobian()
    • MaskedRobot.numLink()
    • MaskedRobot.link_masked()
    • MaskedRobot.link()
  • MaskedTerrain
    • MaskedTerrain.terrain()
    • MaskedTerrain.terrain_unmasked()
• klampt.plan.kinetrajopt.trajopt_task_space module
  • PoseConstraint
    • PoseConstraint.compute()
  • uncross()
  • Sinc()
  • Sinc_Dx()
  • MomentDerivative()
  • DirectionConstraint
    • DirectionConstraint.compute()
  • OrientationConstraint
    • OrientationConstraint.compute()
  • PositionConstraint
    • PositionConstraint.compute()

kinetrajopt	Implementation of TrajOpt algorithm in klampt.
utils
trajopt_task_space	Defines task space constraints for use in KineTrajOpt.