Submodules, robot-level kinematic planning

• klampt.plan.robotplanning module
  • preferred_plan_options()
  • make_space()
  • plan_to_config()
  • plan_to_set()
  • plan_to_cartesian_objective()
  • wizard()
  • makeSpace()
  • planToCartesianObjective()
  • planToConfig()
  • planToSet()
  • preferredPlanOptions()
• klampt.plan.robotcspace module
  • RobotCSpace
    • RobotCSpace.addConstraint()
    • RobotCSpace.sample()
    • RobotCSpace.inJointLimits()
    • RobotCSpace.selfCollision()
    • RobotCSpace.envCollision()
    • RobotCSpace.interpolate()
    • RobotCSpace.distance()
    • RobotCSpace.sendPathToController()
  • ClosedLoopRobotCSpace
    • ClosedLoopRobotCSpace.solver
    • ClosedLoopRobotCSpace.maxIters
    • ClosedLoopRobotCSpace.tol
    • ClosedLoopRobotCSpace.setIKActiveDofs()
    • ClosedLoopRobotCSpace.sample()
    • ClosedLoopRobotCSpace.sampleneighborhood()
    • ClosedLoopRobotCSpace.solveConstraints()
    • ClosedLoopRobotCSpace.closedLoop()
    • ClosedLoopRobotCSpace.interpolate()
    • ClosedLoopRobotCSpace.interpolationPath()
    • ClosedLoopRobotCSpace.discretizePath()
    • ClosedLoopRobotCSpace.sendPathToController()
  • ImplicitManifoldRobotCSpace
    • ImplicitManifoldRobotCSpace.sample()
    • ImplicitManifoldRobotCSpace.onManifold()
    • ImplicitManifoldRobotCSpace.solveManifold()
    • ImplicitManifoldRobotCSpace.interpolate()
  • EmbeddedRobotCSpace
    • EmbeddedRobotCSpace.disableInactiveCollisions()
    • EmbeddedRobotCSpace.discretizePath()
    • EmbeddedRobotCSpace.sendPathToController()
  • RobotSubsetCSpace
    • RobotSubsetCSpace.sendPathToController()
• klampt.plan.robotoptimize module
  • KlamptVariable
    • KlamptVariable.name
    • KlamptVariable.type
    • KlamptVariable.encoding
    • KlamptVariable.variables
    • KlamptVariable.expr
    • KlamptVariable.bind()
    • KlamptVariable.getParams()
    • KlamptVariable.getValue()
    • KlamptVariable.unbind()
    • KlamptVariable.encode()
    • KlamptVariable.decode()
  • RobotOptimizationProblem
    • RobotOptimizationProblem.robot
    • RobotOptimizationProblem.world
    • RobotOptimizationProblem.context
    • RobotOptimizationProblem.q
    • RobotOptimizationProblem.activeDofs
    • RobotOptimizationProblem.autoLoad
    • RobotOptimizationProblem.managedVariables
    • RobotOptimizationProblem.isIKObjective()
    • RobotOptimizationProblem.getIKObjective()
    • RobotOptimizationProblem.enableSoftIK()
    • RobotOptimizationProblem.addIKObjective()
    • RobotOptimizationProblem.addUserData()
    • RobotOptimizationProblem.addKlamptVar()
    • RobotOptimizationProblem.get()
    • RobotOptimizationProblem.rename()
    • RobotOptimizationProblem.setActiveDofs()
    • RobotOptimizationProblem.enableDof()
    • RobotOptimizationProblem.disableJointLimits()
    • RobotOptimizationProblem.setJointLimits()
    • RobotOptimizationProblem.inJointLimits()
    • RobotOptimizationProblem.toJson()
    • RobotOptimizationProblem.fromJson()
    • RobotOptimizationProblem.solve()
• klampt.plan.contactcspace module
  • StanceCSpace
    • StanceCSpace.gravity
    • StanceCSpace.holds
    • StanceCSpace.sp
    • StanceCSpace.equilibriumMargin
    • StanceCSpace.testSupportPolygon()
  • TransitionCSpace
  • MultiContactCSpace
    • MultiContactCSpace.gravity
    • MultiContactCSpace.contactMap
    • MultiContactCSpace.holds
    • MultiContactCSpace.robotCSpace
    • MultiContactCSpace.objectCSpaces
    • MultiContactCSpace.movingObjects
    • MultiContactCSpace.stabilityTestObjects
    • MultiContactCSpace.supportPolygon
    • MultiContactCSpace.supportPolygonVerts
• klampt.plan.rigidobjectcspace module
  • RigidObjectCSpace
    • RigidObjectCSpace.rigidObject
    • RigidObjectCSpace.rotationDomain
    • RigidObjectCSpace.collider
    • RigidObjectCSpace.rotationWeight
    • RigidObjectCSpace.configToTransform()
    • RigidObjectCSpace.transformToConfig()
    • RigidObjectCSpace.setConfig()
    • RigidObjectCSpace.addConstraint()
    • RigidObjectCSpace.sample()
    • RigidObjectCSpace.envCollision()
    • RigidObjectCSpace.interpolate()
    • RigidObjectCSpace.distance()
    • RigidObjectCSpace.pathToTransforms()
    • RigidObjectCSpace.pathToTrajectory()
• klampt.plan.kinetrajopt module
  • Summary
    • 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()