Index

A

accumulated_rotation() (cumotion.TaskSpacePath method) add_cspace_path_spec() (cumotion.CompositePathSpec method) add_cspace_waypoint() (cumotion.CSpacePathSpec method) add_linear_path() (cumotion.TaskSpacePathSpec method) add_obstacle() (cumotion.World method) add_rotation() (cumotion.TaskSpacePathSpec method) add_tangent_arc() (cumotion.TaskSpacePathSpec method) add_tangent_arc_with_orientation_target() (cumotion.TaskSpacePathSpec method) add_task_space_path_spec() (cumotion.CompositePathSpec method)

add_three_point_arc() (cumotion.TaskSpacePathSpec method) add_three_point_arc_with_orientation_target() (cumotion.TaskSpacePathSpec method) add_translation() (cumotion.TaskSpacePathSpec method) add_world_view() (cumotion.World method) alpha (cumotion.TaskSpacePathConversionConfig property) AUTO (cumotion.IkConfig.CSpaceLimitBiasing attribute) axis() (cumotion.CollisionFreeIkSolver.OrientationConstraint static method) (cumotion.CollisionFreeIkSolver.OrientationConstraintGoalset static method) (cumotion.TrajectoryOptimizer.CSpaceTarget.OrientationPathConstraint static method)

B

base_frame_name() (cumotion.Kinematics method) bfgs_cspace_limit_biasing (cumotion.IkConfig property) bfgs_cspace_limit_biasing_weight (cumotion.IkConfig property) bfgs_cspace_limit_penalty_region (cumotion.IkConfig property)

bfgs_gradient_norm_termination (cumotion.IkConfig property) bfgs_gradient_norm_termination_coarse_scale_factor (cumotion.IkConfig property) bfgs_max_iterations (cumotion.IkConfig property) bfgs_orientation_weight (cumotion.IkConfig property) bfgs_position_weight (cumotion.IkConfig property)

C

CAPSULE (cumotion.Obstacle.Type attribute) ccd_bracket_search_num_uniform_samples (cumotion.IkConfig property) ccd_descent_termination_delta (cumotion.IkConfig property) ccd_max_iterations (cumotion.IkConfig property) ccd_orientation_weight (cumotion.IkConfig property) ccd_position_weight (cumotion.IkConfig property) center (cumotion.CollisionSphereGenerator.Sphere property) clear_end_effector_orientation_attractor() (cumotion.RmpFlow method) clear_end_effector_position_attractor() (cumotion.RmpFlow method) clear_world_view() (cumotion.RobotWorldInspector method) CollisionFreeIkSolver (class in cumotion) CollisionFreeIkSolver.OrientationConstraint (class in cumotion) CollisionFreeIkSolver.OrientationConstraintGoalset (class in cumotion) CollisionFreeIkSolver.Results (class in cumotion) CollisionFreeIkSolver.Results.Status (class in cumotion) CollisionFreeIkSolver.TaskSpaceTarget (class in cumotion) CollisionFreeIkSolver.TaskSpaceTargetGoalset (class in cumotion) CollisionFreeIkSolver.TranslationConstraint (class in cumotion) CollisionFreeIkSolver.TranslationConstraintGoalset (class in cumotion) CollisionFreeIkSolverConfig (class in cumotion) CollisionFreeIkSolverConfig.ParamValue (class in cumotion) CollisionSphereGenerator (class in cumotion) CollisionSphereGenerator.ParamValue (class in cumotion) CollisionSphereGenerator.Sphere (class in cumotion) CompositePathSpec (class in cumotion) CompositePathSpec.PathSpecType (class in cumotion) CompositePathSpec.TransitionMode (class in cumotion) constant() (cumotion.TrajectoryOptimizer.CSpaceTarget.OrientationPathConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraintGoalset static method) convert_composite_path_spec_to_cspace() (in module cumotion) convert_task_space_path_spec_to_cspace() (in module cumotion) create_collision_free_ik_solver() (in module cumotion) create_collision_sphere_generator() (in module cumotion) create_composite_path_spec() (in module cumotion) create_cspace_path_spec() (in module cumotion) create_cspace_trajectory_generator() (in module cumotion) create_default_motion_planner_config() (in module cumotion) create_default_trajectory_optimizer_config() (in module cumotion) create_linear_cspace_path() (in module cumotion) create_motion_planner() (in module cumotion) create_motion_planner_config_from_file() (in module cumotion) create_obstacle() (in module cumotion) create_rmpflow() (in module cumotion) create_rmpflow_config_from_file() (in module cumotion) create_rmpflow_config_from_memory() (in module cumotion) create_robot_world_inspector() (in module cumotion) create_task_space_path_spec() (in module cumotion) create_trajectory_optimizer() (in module cumotion) create_trajectory_optimizer_config_from_file() (in module cumotion) create_world() (in module cumotion) create_world_inspector() (in module cumotion) CSPACE (cumotion.CompositePathSpec.PathSpecType attribute) cspace_coord_acceleration_limit() (cumotion.Kinematics method) cspace_coord_jerk_limit() (cumotion.Kinematics method) cspace_coord_limits() (cumotion.Kinematics method) cspace_coord_name() (cumotion.Kinematics method) (cumotion.RobotDescription method) cspace_coord_velocity_limit() (cumotion.Kinematics method) cspace_path_spec() (cumotion.CompositePathSpec method) cspace_position (cumotion.IkResults property) cspace_positions() (cumotion.CollisionFreeIkSolver.Results method) cspace_seeds (cumotion.IkConfig property) CSpacePath (class in cumotion) CSpacePath.Domain (class in cumotion) CSpacePathSpec (class in cumotion) CSpaceTrajectoryGenerator (class in cumotion) CSpaceTrajectoryGenerator.InterpolationMode (class in cumotion) CSpaceTrajectoryGenerator.SolverParamValue (class in cumotion) CUBIC_SPLINE (cumotion.CSpaceTrajectoryGenerator.InterpolationMode attribute) CUBOID (cumotion.Obstacle.Type attribute) cumotion::CollisionFreeIkSolver (C++ class) cumotion::CollisionFreeIkSolver::OrientationConstraint (C++ class) cumotion::CollisionFreeIkSolver::OrientationConstraint::Axis (C++ function) cumotion::CollisionFreeIkSolver::OrientationConstraint::None (C++ function) cumotion::CollisionFreeIkSolver::OrientationConstraint::Target (C++ function) cumotion::CollisionFreeIkSolver::OrientationConstraintGoalset (C++ class) cumotion::CollisionFreeIkSolver::OrientationConstraintGoalset::Axis (C++ function) cumotion::CollisionFreeIkSolver::OrientationConstraintGoalset::None (C++ function) cumotion::CollisionFreeIkSolver::OrientationConstraintGoalset::Target (C++ function) cumotion::CollisionFreeIkSolver::Results (C++ class) cumotion::CollisionFreeIkSolver::Results::cSpacePositions (C++ function) cumotion::CollisionFreeIkSolver::Results::Status (C++ enum) cumotion::CollisionFreeIkSolver::Results::status (C++ function) cumotion::CollisionFreeIkSolver::Results::Status::INVERSE_KINEMATICS_FAILURE (C++ enumerator) cumotion::CollisionFreeIkSolver::Results::Status::SUCCESS (C++ enumerator) cumotion::CollisionFreeIkSolver::Results::targetIndices (C++ function) cumotion::CollisionFreeIkSolver::solve (C++ function) cumotion::CollisionFreeIkSolver::solveGoalset (C++ function) cumotion::CollisionFreeIkSolver::TaskSpaceTarget (C++ struct) cumotion::CollisionFreeIkSolver::TaskSpaceTarget::TaskSpaceTarget (C++ function) cumotion::CollisionFreeIkSolver::TaskSpaceTargetGoalset (C++ struct) cumotion::CollisionFreeIkSolver::TaskSpaceTargetGoalset::TaskSpaceTargetGoalset (C++ function) cumotion::CollisionFreeIkSolver::TranslationConstraint (C++ class) cumotion::CollisionFreeIkSolver::TranslationConstraint::Target (C++ function) cumotion::CollisionFreeIkSolver::TranslationConstraintGoalset (C++ class) cumotion::CollisionFreeIkSolver::TranslationConstraintGoalset::Target (C++ function) cumotion::CollisionFreeIkSolverConfig (C++ class) cumotion::CollisionFreeIkSolverConfig::ParamValue (C++ struct) cumotion::CollisionFreeIkSolverConfig::ParamValue::ParamValue (C++ function), [1] cumotion::CollisionFreeIkSolverConfig::setParam (C++ function) cumotion::CollisionSphereGenerator (C++ class) cumotion::CollisionSphereGenerator::generateSpheres (C++ function) cumotion::CollisionSphereGenerator::getSampledSpheres (C++ function) cumotion::CollisionSphereGenerator::numTriangles (C++ function) cumotion::CollisionSphereGenerator::ParamValue (C++ struct) cumotion::CollisionSphereGenerator::ParamValue::ParamValue (C++ function), [1], [2] cumotion::CollisionSphereGenerator::setParam (C++ function) cumotion::CollisionSphereGenerator::Sphere (C++ struct) cumotion::CollisionSphereGenerator::Sphere::center (C++ member) cumotion::CollisionSphereGenerator::Sphere::radius (C++ member) cumotion::CompositePathSpec (C++ class) cumotion::CompositePathSpec::addCSpacePathSpec (C++ function) cumotion::CompositePathSpec::addTaskSpacePathSpec (C++ function) cumotion::CompositePathSpec::cSpacePathSpec (C++ function) cumotion::CompositePathSpec::numCSpaceCoords (C++ function) cumotion::CompositePathSpec::numPathSpecs (C++ function) cumotion::CompositePathSpec::PathSpecType (C++ enum) cumotion::CompositePathSpec::pathSpecType (C++ function) cumotion::CompositePathSpec::PathSpecType::CSPACE (C++ enumerator) cumotion::CompositePathSpec::PathSpecType::TASK_SPACE (C++ enumerator) cumotion::CompositePathSpec::taskSpacePathSpec (C++ function) cumotion::CompositePathSpec::TransitionMode (C++ enum) cumotion::CompositePathSpec::transitionMode (C++ function) cumotion::CompositePathSpec::TransitionMode::FREE (C++ enumerator) cumotion::CompositePathSpec::TransitionMode::LINEAR_TASK_SPACE (C++ enumerator) cumotion::CompositePathSpec::TransitionMode::SKIP (C++ enumerator) cumotion::ConvertCompositePathSpecToCSpace (C++ function) cumotion::ConvertTaskSpacePathSpecToCSpace (C++ function) cumotion::CreateCollisionFreeIkSolver (C++ function) cumotion::CreateCollisionSphereGenerator (C++ function) cumotion::CreateCompositePathSpec (C++ function) cumotion::CreateCSpacePathSpec (C++ function) cumotion::CreateCSpaceTrajectoryGenerator (C++ function), [1] cumotion::CreateDefaultMotionPlannerConfig (C++ function) cumotion::CreateDefaultTrajectoryOptimizerConfig (C++ function) cumotion::CreateLinearCSpacePath (C++ function) cumotion::CreateMotionPlanner (C++ function) cumotion::CreateMotionPlannerConfigFromFile (C++ function) cumotion::CreateObstacle (C++ function) cumotion::CreateRmpFlow (C++ function) cumotion::CreateRmpFlowConfigFromFile (C++ function) cumotion::CreateRmpFlowConfigFromMemory (C++ function) cumotion::CreateRobotWorldInspector (C++ function) cumotion::CreateTaskSpacePathSpec (C++ function) cumotion::CreateTrajectoryOptimizer (C++ function) cumotion::CreateTrajectoryOptimizerConfigFromFile (C++ function) cumotion::CreateWorld (C++ function) cumotion::CreateWorldInspector (C++ function) cumotion::CSpacePath (C++ class) cumotion::CSpacePath::domain (C++ function) cumotion::CSpacePath::Domain (C++ struct) cumotion::CSpacePath::Domain::lower (C++ member) cumotion::CSpacePath::Domain::span (C++ function) cumotion::CSpacePath::Domain::upper (C++ member) cumotion::CSpacePath::eval (C++ function) cumotion::CSpacePath::maxPosition (C++ function) cumotion::CSpacePath::minPosition (C++ function) cumotion::CSpacePath::numCSpaceCoords (C++ function) cumotion::CSpacePath::pathLength (C++ function) cumotion::CSpacePathSpec (C++ class) cumotion::CSpacePathSpec::addCSpaceWaypoint (C++ function) cumotion::CSpacePathSpec::numCSpaceCoords (C++ function) cumotion::CSpaceTrajectoryGenerator (C++ class) cumotion::CSpaceTrajectoryGenerator::generateTimeStampedTrajectory (C++ function) cumotion::CSpaceTrajectoryGenerator::generateTrajectory (C++ function) cumotion::CSpaceTrajectoryGenerator::InterpolationMode (C++ enum) cumotion::CSpaceTrajectoryGenerator::InterpolationMode::CUBIC_SPLINE (C++ enumerator) cumotion::CSpaceTrajectoryGenerator::InterpolationMode::LINEAR (C++ enumerator) cumotion::CSpaceTrajectoryGenerator::numCSpaceCoords (C++ function) cumotion::CSpaceTrajectoryGenerator::setAccelerationLimits (C++ function) cumotion::CSpaceTrajectoryGenerator::setJerkLimits (C++ function) cumotion::CSpaceTrajectoryGenerator::setPositionLimits (C++ function) cumotion::CSpaceTrajectoryGenerator::setSolverParam (C++ function) cumotion::CSpaceTrajectoryGenerator::setVelocityLimits (C++ function) cumotion::CSpaceTrajectoryGenerator::SolverParamValue (C++ struct) cumotion::CSpaceTrajectoryGenerator::SolverParamValue::SolverParamValue (C++ function), [1], [2], [3] cumotion::ExportCompositePathSpecToMemory (C++ function) cumotion::ExportCSpacePathSpecToMemory (C++ function) cumotion::ExportTaskSpacePathSpecToMemory (C++ function) cumotion::FatalException (C++ class) cumotion::GenerateCollisionSpheres (C++ function) cumotion::IkConfig (C++ struct) cumotion::IkConfig::bfgs_cspace_limit_biasing (C++ member) cumotion::IkConfig::bfgs_cspace_limit_biasing_weight (C++ member) cumotion::IkConfig::bfgs_cspace_limit_penalty_region (C++ member) cumotion::IkConfig::bfgs_gradient_norm_termination (C++ member) cumotion::IkConfig::bfgs_gradient_norm_termination_coarse_scale_factor (C++ member) cumotion::IkConfig::bfgs_max_iterations (C++ member) cumotion::IkConfig::bfgs_orientation_weight (C++ member) cumotion::IkConfig::bfgs_position_weight (C++ member) cumotion::IkConfig::ccd_bracket_search_num_uniform_samples (C++ member) cumotion::IkConfig::ccd_descent_termination_delta (C++ member) cumotion::IkConfig::ccd_max_iterations (C++ member) cumotion::IkConfig::ccd_orientation_weight (C++ member) cumotion::IkConfig::ccd_position_weight (C++ member) cumotion::IkConfig::cspace_seeds (C++ member) cumotion::IkConfig::CSpaceLimitBiasing (C++ enum) cumotion::IkConfig::CSpaceLimitBiasing::AUTO (C++ enumerator) cumotion::IkConfig::CSpaceLimitBiasing::DISABLE (C++ enumerator) cumotion::IkConfig::CSpaceLimitBiasing::ENABLE (C++ enumerator) cumotion::IkConfig::IkConfig (C++ function) cumotion::IkConfig::irwin_hall_sampling_order (C++ member) cumotion::IkConfig::max_num_descents (C++ member) cumotion::IkConfig::orientation_tolerance (C++ member) cumotion::IkConfig::position_tolerance (C++ member) cumotion::IkConfig::sampling_seed (C++ member) cumotion::IkResults (C++ struct) cumotion::IkResults::cspace_position (C++ member) cumotion::IkResults::num_descents (C++ member) cumotion::IkResults::position_error (C++ member) cumotion::IkResults::success (C++ member) cumotion::IkResults::x_axis_orientation_error (C++ member) cumotion::IkResults::y_axis_orientation_error (C++ member) cumotion::IkResults::z_axis_orientation_error (C++ member) cumotion::Kinematics (C++ class) cumotion::Kinematics::baseFrame (C++ function) cumotion::Kinematics::cSpaceCoordAccelerationLimit (C++ function) cumotion::Kinematics::cSpaceCoordJerkLimit (C++ function) cumotion::Kinematics::cSpaceCoordLimits (C++ function) cumotion::Kinematics::cSpaceCoordName (C++ function) cumotion::Kinematics::cSpaceCoordVelocityLimit (C++ function) cumotion::Kinematics::frame (C++ function) cumotion::Kinematics::FrameHandle (C++ struct) cumotion::Kinematics::frameName (C++ function) cumotion::Kinematics::frameNames (C++ function) cumotion::Kinematics::getPrecedingFixedTransform (C++ function) cumotion::Kinematics::jacobian (C++ function) cumotion::Kinematics::Limits (C++ struct) cumotion::Kinematics::Limits::lower (C++ member) cumotion::Kinematics::Limits::upper (C++ member) cumotion::Kinematics::numCSpaceCoords (C++ function) cumotion::Kinematics::orientation (C++ function), [1] cumotion::Kinematics::orientationJacobian (C++ function) cumotion::Kinematics::pose (C++ function), [1] cumotion::Kinematics::position (C++ function), [1] cumotion::Kinematics::positionJacobian (C++ function) cumotion::Kinematics::setPrecedingFixedTransform (C++ function) cumotion::Kinematics::withinCSpaceLimits (C++ function) cumotion::LinearCSpacePath (C++ class) cumotion::LinearCSpacePath::domain (C++ function) cumotion::LinearCSpacePath::eval (C++ function) cumotion::LinearCSpacePath::maxPosition (C++ function) cumotion::LinearCSpacePath::minPosition (C++ function) cumotion::LinearCSpacePath::numCSpaceCoords (C++ function)

cumotion::LinearCSpacePath::pathLength (C++ function) cumotion::LinearCSpacePath::waypoints (C++ function) cumotion::LoadCompositePathSpecFromFile (C++ function) cumotion::LoadCompositePathSpecFromMemory (C++ function) cumotion::LoadCSpacePathSpecFromFile (C++ function) cumotion::LoadCSpacePathSpecFromMemory (C++ function) cumotion::LoadRobotFromFile (C++ function) cumotion::LoadRobotFromMemory (C++ function) cumotion::LoadTaskSpacePathSpecFromFile (C++ function) cumotion::LoadTaskSpacePathSpecFromMemory (C++ function) cumotion::Logger (C++ class) cumotion::Logger::finalizeLogMessage (C++ function) cumotion::Logger::handleFatalError (C++ function) cumotion::Logger::log (C++ function) cumotion::LogLevel (C++ enum) cumotion::LogLevel::ERROR (C++ enumerator) cumotion::LogLevel::FATAL (C++ enumerator) cumotion::LogLevel::INFO (C++ enumerator) cumotion::LogLevel::VERBOSE (C++ enumerator) cumotion::LogLevel::WARNING (C++ enumerator) cumotion::MotionPlanner (C++ class) cumotion::MotionPlanner::planToCSpaceTarget (C++ function) cumotion::MotionPlanner::planToPoseTarget (C++ function) cumotion::MotionPlanner::planToTranslationTarget (C++ function) cumotion::MotionPlanner::Results (C++ struct) cumotion::MotionPlanner::Results::interpolated_path (C++ member) cumotion::MotionPlanner::Results::path (C++ member) cumotion::MotionPlanner::Results::path_found (C++ member) cumotion::MotionPlannerConfig (C++ class) cumotion::MotionPlannerConfig::Limit (C++ struct) cumotion::MotionPlannerConfig::ParamValue (C++ struct) cumotion::MotionPlannerConfig::ParamValue::ParamValue (C++ function), [1], [2], [3], [4], [5], [6], [7] cumotion::MotionPlannerConfig::setParam (C++ function) cumotion::Obstacle (C++ class) cumotion::Obstacle::Attribute (C++ enum) cumotion::Obstacle::Attribute::GRID (C++ enumerator) cumotion::Obstacle::Attribute::HEIGHT (C++ enumerator) cumotion::Obstacle::Attribute::RADIUS (C++ enumerator) cumotion::Obstacle::Attribute::SIDE_LENGTHS (C++ enumerator) cumotion::Obstacle::AttributeValue (C++ struct) cumotion::Obstacle::AttributeValue::AttributeValue (C++ function), [1], [2] cumotion::Obstacle::Grid (C++ struct) cumotion::Obstacle::Grid::device_precision (C++ member) cumotion::Obstacle::Grid::Grid (C++ function) cumotion::Obstacle::Grid::host_precision (C++ member) cumotion::Obstacle::Grid::num_voxels_x (C++ member) cumotion::Obstacle::Grid::num_voxels_y (C++ member) cumotion::Obstacle::Grid::num_voxels_z (C++ member) cumotion::Obstacle::Grid::Precision (C++ enum) cumotion::Obstacle::Grid::Precision::DOUBLE (C++ enumerator) cumotion::Obstacle::Grid::Precision::FLOAT (C++ enumerator) cumotion::Obstacle::Grid::Precision::HALF (C++ enumerator) cumotion::Obstacle::Grid::voxel_size (C++ member) cumotion::Obstacle::setAttribute (C++ function) cumotion::Obstacle::Type (C++ enum) cumotion::Obstacle::type (C++ function) cumotion::Obstacle::Type::CAPSULE (C++ enumerator) cumotion::Obstacle::Type::CUBOID (C++ enumerator) cumotion::Obstacle::Type::SDF (C++ enumerator) cumotion::Obstacle::Type::SPHERE (C++ enumerator) cumotion::Pose3 (C++ struct) cumotion::Pose3::FromRotation (C++ function) cumotion::Pose3::FromTranslation (C++ function) cumotion::Pose3::Identity (C++ function) cumotion::Pose3::inverse (C++ function) cumotion::Pose3::matrix (C++ function) cumotion::Pose3::operator* (C++ function), [1] cumotion::Pose3::Pose3 (C++ function), [1], [2] cumotion::Pose3::rotation (C++ member) cumotion::Pose3::transformVectors (C++ function), [1] cumotion::Pose3::translation (C++ member) cumotion::RmpFlow (C++ class) cumotion::RmpFlow::clearEndEffectorOrientationAttractor (C++ function) cumotion::RmpFlow::clearEndEffectorPositionAttractor (C++ function) cumotion::RmpFlow::evalAccel (C++ function) cumotion::RmpFlow::evalForceAndMetric (C++ function) cumotion::RmpFlow::setCSpaceAttractor (C++ function) cumotion::RmpFlow::setEndEffectorOrientationAttractor (C++ function) cumotion::RmpFlow::setEndEffectorPositionAttractor (C++ function) cumotion::RmpFlowConfig (C++ class) cumotion::RmpFlowConfig::getAllParams (C++ function) cumotion::RmpFlowConfig::getParam (C++ function) cumotion::RmpFlowConfig::setAllParams (C++ function) cumotion::RmpFlowConfig::setParam (C++ function) cumotion::RmpFlowConfig::setWorldView (C++ function) cumotion::RobotDescription (C++ class) cumotion::RobotDescription::cSpaceCoordName (C++ function) cumotion::RobotDescription::defaultCSpaceConfiguration (C++ function) cumotion::RobotDescription::kinematics (C++ function) cumotion::RobotDescription::numCSpaceCoords (C++ function) cumotion::RobotDescription::toolFrameNames (C++ function) cumotion::RobotWorldInspector (C++ class) cumotion::RobotWorldInspector::clearWorldView (C++ function) cumotion::RobotWorldInspector::distanceToObstacle (C++ function) cumotion::RobotWorldInspector::framesInSelfCollision (C++ function) cumotion::RobotWorldInspector::inCollisionWithObstacle (C++ function) cumotion::RobotWorldInspector::inSelfCollision (C++ function) cumotion::RobotWorldInspector::minDistanceToObstacle (C++ function) cumotion::RobotWorldInspector::numSelfCollisionSpheres (C++ function) cumotion::RobotWorldInspector::numWorldCollisionSpheres (C++ function) cumotion::RobotWorldInspector::selfCollisionSphereFrameName (C++ function) cumotion::RobotWorldInspector::selfCollisionSpherePositions (C++ function) cumotion::RobotWorldInspector::selfCollisionSphereRadii (C++ function) cumotion::RobotWorldInspector::setWorldView (C++ function) cumotion::RobotWorldInspector::worldCollisionSphereFrameName (C++ function) cumotion::RobotWorldInspector::worldCollisionSpherePositions (C++ function) cumotion::RobotWorldInspector::worldCollisionSphereRadii (C++ function) cumotion::Rotation3 (C++ class) cumotion::Rotation3::Distance (C++ function) cumotion::Rotation3::FromAxisAngle (C++ function) cumotion::Rotation3::FromMatrix (C++ function) cumotion::Rotation3::FromScaledAxis (C++ function) cumotion::Rotation3::Identity (C++ function) cumotion::Rotation3::inverse (C++ function) cumotion::Rotation3::matrix (C++ function) cumotion::Rotation3::operator* (C++ function), [1] cumotion::Rotation3::quaternion (C++ function) cumotion::Rotation3::Rotation3 (C++ function) cumotion::Rotation3::scaledAxis (C++ function) cumotion::Rotation3::Slerp (C++ function) cumotion::Rotation3::w (C++ function) cumotion::Rotation3::x (C++ function) cumotion::Rotation3::y (C++ function) cumotion::Rotation3::z (C++ function) cumotion::SetDefaultLoggerPrefix (C++ function) cumotion::SetDefaultLoggerTextStyle (C++ function) cumotion::SetLogger (C++ function) cumotion::SetLogLevel (C++ function) cumotion::SolveIk (C++ function) cumotion::TaskSpacePath (C++ class) cumotion::TaskSpacePath::accumulatedRotation (C++ function) cumotion::TaskSpacePath::domain (C++ function) cumotion::TaskSpacePath::Domain (C++ struct) cumotion::TaskSpacePath::Domain::lower (C++ member) cumotion::TaskSpacePath::Domain::span (C++ function) cumotion::TaskSpacePath::Domain::upper (C++ member) cumotion::TaskSpacePath::eval (C++ function) cumotion::TaskSpacePath::maxPosition (C++ function) cumotion::TaskSpacePath::minPosition (C++ function) cumotion::TaskSpacePath::pathLength (C++ function) cumotion::TaskSpacePathConversionConfig (C++ struct) cumotion::TaskSpacePathConversionConfig::alpha (C++ member) cumotion::TaskSpacePathConversionConfig::initial_s_step_size (C++ member) cumotion::TaskSpacePathConversionConfig::initial_s_step_size_delta (C++ member) cumotion::TaskSpacePathConversionConfig::max_iterations (C++ member) cumotion::TaskSpacePathConversionConfig::max_position_deviation (C++ member) cumotion::TaskSpacePathConversionConfig::min_position_deviation (C++ member) cumotion::TaskSpacePathConversionConfig::min_s_step_size (C++ member) cumotion::TaskSpacePathConversionConfig::min_s_step_size_delta (C++ member) cumotion::TaskSpacePathConversionConfig::TaskSpacePathConversionConfig (C++ function) cumotion::TaskSpacePathSpec (C++ class) cumotion::TaskSpacePathSpec::addLinearPath (C++ function) cumotion::TaskSpacePathSpec::addRotation (C++ function) cumotion::TaskSpacePathSpec::addTangentArc (C++ function) cumotion::TaskSpacePathSpec::addTangentArcWithOrientationTarget (C++ function) cumotion::TaskSpacePathSpec::addThreePointArc (C++ function) cumotion::TaskSpacePathSpec::addThreePointArcWithOrientationTarget (C++ function) cumotion::TaskSpacePathSpec::addTranslation (C++ function) cumotion::TaskSpacePathSpec::generatePath (C++ function) cumotion::Trajectory (C++ class) cumotion::Trajectory::domain (C++ function) cumotion::Trajectory::Domain (C++ struct) cumotion::Trajectory::Domain::lower (C++ member) cumotion::Trajectory::Domain::span (C++ function) cumotion::Trajectory::Domain::upper (C++ member) cumotion::Trajectory::eval (C++ function), [1] cumotion::Trajectory::maxAccelerationMagnitude (C++ function) cumotion::Trajectory::maxJerkMagnitude (C++ function) cumotion::Trajectory::maxPosition (C++ function) cumotion::Trajectory::maxVelocityMagnitude (C++ function) cumotion::Trajectory::minPosition (C++ function) cumotion::Trajectory::numCSpaceCoords (C++ function) cumotion::TrajectoryOptimizer (C++ class) cumotion::TrajectoryOptimizer::CSpaceTarget (C++ class) cumotion::TrajectoryOptimizer::CSpaceTarget::CSpaceTarget (C++ function) cumotion::TrajectoryOptimizer::CSpaceTarget::OrientationPathConstraint (C++ class) cumotion::TrajectoryOptimizer::CSpaceTarget::OrientationPathConstraint::Axis (C++ function) cumotion::TrajectoryOptimizer::CSpaceTarget::OrientationPathConstraint::Constant (C++ function) cumotion::TrajectoryOptimizer::CSpaceTarget::OrientationPathConstraint::None (C++ function) cumotion::TrajectoryOptimizer::CSpaceTarget::TranslationPathConstraint (C++ class) cumotion::TrajectoryOptimizer::CSpaceTarget::TranslationPathConstraint::Linear (C++ function) cumotion::TrajectoryOptimizer::CSpaceTarget::TranslationPathConstraint::None (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraint (C++ class) cumotion::TrajectoryOptimizer::OrientationConstraint::Constant (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraint::None (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraint::TerminalAndPathAxis (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraint::TerminalAndPathTarget (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraint::TerminalAxis (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraint::TerminalTarget (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraint::TerminalTargetAndPathAxis (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraintGoalset (C++ class) cumotion::TrajectoryOptimizer::OrientationConstraintGoalset::Constant (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraintGoalset::None (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraintGoalset::TerminalAndPathAxis (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraintGoalset::TerminalAndPathTarget (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraintGoalset::TerminalAxis (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraintGoalset::TerminalTarget (C++ function) cumotion::TrajectoryOptimizer::OrientationConstraintGoalset::TerminalTargetAndPathAxis (C++ function) cumotion::TrajectoryOptimizer::planToCSpaceTarget (C++ function) cumotion::TrajectoryOptimizer::planToTaskSpaceGoalset (C++ function) cumotion::TrajectoryOptimizer::planToTaskSpaceTarget (C++ function) cumotion::TrajectoryOptimizer::Results (C++ class) cumotion::TrajectoryOptimizer::Results::Status (C++ enum) cumotion::TrajectoryOptimizer::Results::status (C++ function) cumotion::TrajectoryOptimizer::Results::Status::GEOMETRIC_PLANNING_FAILURE (C++ enumerator) cumotion::TrajectoryOptimizer::Results::Status::INVALID_INITIAL_CSPACE_POSITION (C++ enumerator) cumotion::TrajectoryOptimizer::Results::Status::INVALID_TARGET_SPECIFICATION (C++ enumerator) cumotion::TrajectoryOptimizer::Results::Status::INVERSE_KINEMATICS_FAILURE (C++ enumerator) cumotion::TrajectoryOptimizer::Results::Status::SUCCESS (C++ enumerator) cumotion::TrajectoryOptimizer::Results::Status::TRAJECTORY_OPTIMIZATION_FAILURE (C++ enumerator) cumotion::TrajectoryOptimizer::Results::targetIndex (C++ function) cumotion::TrajectoryOptimizer::Results::trajectory (C++ function) cumotion::TrajectoryOptimizer::TaskSpaceTarget (C++ struct) cumotion::TrajectoryOptimizer::TaskSpaceTarget::TaskSpaceTarget (C++ function) cumotion::TrajectoryOptimizer::TaskSpaceTargetGoalset (C++ struct) cumotion::TrajectoryOptimizer::TaskSpaceTargetGoalset::TaskSpaceTargetGoalset (C++ function) cumotion::TrajectoryOptimizer::TranslationConstraint (C++ class) cumotion::TrajectoryOptimizer::TranslationConstraint::LinearPathConstraint (C++ function) cumotion::TrajectoryOptimizer::TranslationConstraint::Target (C++ function) cumotion::TrajectoryOptimizer::TranslationConstraintGoalset (C++ class) cumotion::TrajectoryOptimizer::TranslationConstraintGoalset::LinearPathConstraint (C++ function) cumotion::TrajectoryOptimizer::TranslationConstraintGoalset::Target (C++ function) cumotion::TrajectoryOptimizerConfig (C++ class) cumotion::TrajectoryOptimizerConfig::ParamValue (C++ struct) cumotion::TrajectoryOptimizerConfig::ParamValue::ParamValue (C++ function), [1], [2], [3] cumotion::TrajectoryOptimizerConfig::setParam (C++ function) cumotion::VersionString (C++ function) cumotion::World (C++ class) cumotion::World::addObstacle (C++ function) cumotion::World::addWorldView (C++ function) cumotion::World::disableObstacle (C++ function) cumotion::World::enableObstacle (C++ function) cumotion::World::ObstacleHandle (C++ struct) cumotion::World::removeObstacle (C++ function) cumotion::World::setPose (C++ function) cumotion::World::setSdfGridValuesFromDevice (C++ function) cumotion::World::setSdfGridValuesFromHost (C++ function) cumotion::WorldInspector (C++ class) cumotion::WorldInspector::distancesTo (C++ function) cumotion::WorldInspector::distanceTo (C++ function) cumotion::WorldInspector::inCollision (C++ function), [1] cumotion::WorldInspector::minDistance (C++ function) cumotion::WorldInspector::numEnabledObstacles (C++ function) cumotion::WorldViewHandle (C++ struct) cumotion::WorldViewHandle::update (C++ function)

D

default_cspace_configuration() (cumotion.RobotDescription method) DISABLE (cumotion.IkConfig.CSpaceLimitBiasing attribute) disable_obstacle() (cumotion.World method) distance() (cumotion.Rotation3 static method) distance_to() (cumotion.WorldInspector method) distance_to_obstacle() (cumotion.RobotWorldInspector method)

distances_to() (cumotion.WorldInspector method) domain() (cumotion.CSpacePath method) (cumotion.LinearCSpacePath method) (cumotion.TaskSpacePath method) (cumotion.Trajectory method) DOUBLE (cumotion.Obstacle.GridPrecision attribute)

E

ENABLE (cumotion.IkConfig.CSpaceLimitBiasing attribute) enable_obstacle() (cumotion.World method) eval() (cumotion.CSpacePath method) (cumotion.LinearCSpacePath method) (cumotion.TaskSpacePath method) (cumotion.Trajectory method)

eval_accel() (cumotion.RmpFlow method) eval_all() (cumotion.Trajectory method) eval_force_and_metric() (cumotion.RmpFlow method) export_composite_path_spec_to_memory() (in module cumotion) export_cspace_path_spec_to_memory() (in module cumotion) export_task_space_path_spec_to_memory() (in module cumotion)

F

FLOAT (cumotion.Obstacle.GridPrecision attribute) frame_names() (cumotion.Kinematics method) frames_in_self_collision() (cumotion.RobotWorldInspector method) FREE (cumotion.CompositePathSpec.TransitionMode attribute)

from_axis_angle() (cumotion.Rotation3 static method) from_matrix() (cumotion.Rotation3 static method) from_rotation() (cumotion.Pose3 static method) from_scaled_axis() (cumotion.Rotation3 static method) from_translation() (cumotion.Pose3 static method)

G

generate_collision_spheres() (in module cumotion) generate_path() (cumotion.TaskSpacePathSpec method) generate_spheres() (cumotion.CollisionSphereGenerator method) generate_time_stamped_trajectory() (cumotion.CSpaceTrajectoryGenerator method) generate_trajectory() (cumotion.CSpaceTrajectoryGenerator method)

GEOMETRIC_PLANNING_FAILURE (cumotion.TrajectoryOptimizer.Results.Status attribute) get_all_params() (cumotion.RmpFlowConfig method) get_param() (cumotion.RmpFlowConfig method) get_sampled_spheres() (cumotion.CollisionSphereGenerator method) GRID (cumotion.Obstacle.Attribute attribute)

H

HALF (cumotion.Obstacle.GridPrecision attribute)

HEIGHT (cumotion.Obstacle.Attribute attribute)

I

identity() (cumotion.Pose3 static method) (cumotion.Rotation3 static method) IkConfig (class in cumotion) IkConfig.CSpaceLimitBiasing (class in cumotion) IkResults (class in cumotion) in_collision() (cumotion.WorldInspector method) in_collision_with_obstacle() (cumotion.RobotWorldInspector method) in_self_collision() (cumotion.RobotWorldInspector method) initial_s_step_size (cumotion.TaskSpacePathConversionConfig property)

initial_s_step_size_delta (cumotion.TaskSpacePathConversionConfig property) interpolated_path (cumotion.MotionPlanner.Results property) INVALID_INITIAL_CSPACE_POSITION (cumotion.TrajectoryOptimizer.Results.Status attribute) INVALID_TARGET_SPECIFICATION (cumotion.TrajectoryOptimizer.Results.Status attribute) inverse() (cumotion.Pose3 method) (cumotion.Rotation3 method) INVERSE_KINEMATICS_FAILURE (cumotion.CollisionFreeIkSolver.Results.Status attribute) (cumotion.TrajectoryOptimizer.Results.Status attribute) irwin_hall_sampling_order (cumotion.IkConfig property)

J

jacobian() (cumotion.Kinematics method)

K

Kinematics (class in cumotion)

kinematics() (cumotion.RobotDescription method) Kinematics.Limits (class in cumotion)

L

LINEAR (cumotion.CSpaceTrajectoryGenerator.InterpolationMode attribute) linear() (cumotion.TrajectoryOptimizer.CSpaceTarget.TranslationPathConstraint static method) linear_path_constraint() (cumotion.TrajectoryOptimizer.TranslationConstraint static method) (cumotion.TrajectoryOptimizer.TranslationConstraintGoalset static method) LINEAR_TASK_SPACE (cumotion.CompositePathSpec.TransitionMode attribute) LinearCSpacePath (class in cumotion) load_composite_path_spec_from_file() (in module cumotion) load_composite_path_spec_from_memory() (in module cumotion) load_cspace_path_spec_from_file() (in module cumotion) load_cspace_path_spec_from_memory() (in module cumotion) load_robot_from_file() (in module cumotion) load_robot_from_memory() (in module cumotion)

load_task_space_path_spec_from_file() (in module cumotion) load_task_space_path_spec_from_memory() (in module cumotion) LogLevel (class in cumotion) LogLevel.ERROR (in module cumotion) LogLevel.FATAL (in module cumotion) LogLevel.INFO (in module cumotion) LogLevel.VERBOSE (in module cumotion) LogLevel.WARNING (in module cumotion) lower (cumotion.CSpacePath.Domain property) (cumotion.Kinematics.Limits property) (cumotion.MotionPlannerConfig.Limit property) (cumotion.TaskSpacePath.Domain property) (cumotion.Trajectory.Domain property)

M

matrix() (cumotion.Pose3 method) (cumotion.Rotation3 method) max_acceleration_magnitude() (cumotion.Trajectory method) max_iterations (cumotion.TaskSpacePathConversionConfig property) max_jerk_magnitude() (cumotion.Trajectory method) max_num_descents (cumotion.IkConfig property) max_position() (cumotion.CSpacePath method) (cumotion.LinearCSpacePath method) (cumotion.TaskSpacePath method) (cumotion.Trajectory method) max_position_deviation (cumotion.TaskSpacePathConversionConfig property) max_velocity_magnitude() (cumotion.Trajectory method) min_distance() (cumotion.WorldInspector method)

min_distance_to_obstacle() (cumotion.RobotWorldInspector method) min_position() (cumotion.CSpacePath method) (cumotion.LinearCSpacePath method) (cumotion.TaskSpacePath method) (cumotion.Trajectory method) min_position_deviation (cumotion.TaskSpacePathConversionConfig property) min_s_step_size (cumotion.TaskSpacePathConversionConfig property) min_s_step_size_delta (cumotion.TaskSpacePathConversionConfig property) MotionPlanner (class in cumotion) MotionPlanner.Results (class in cumotion) MotionPlannerConfig (class in cumotion) MotionPlannerConfig.Limit (class in cumotion) MotionPlannerConfig.ParamValue (class in cumotion)

N

name (cumotion.CollisionFreeIkSolver.Results.Status property) (cumotion.CompositePathSpec.PathSpecType property) (cumotion.CompositePathSpec.TransitionMode property) (cumotion.CSpaceTrajectoryGenerator.InterpolationMode property) (cumotion.IkConfig.CSpaceLimitBiasing property) (cumotion.Obstacle.Attribute property) (cumotion.Obstacle.GridPrecision property) (cumotion.Obstacle.Type property) (cumotion.TrajectoryOptimizer.Results.Status property) none() (cumotion.CollisionFreeIkSolver.OrientationConstraint static method) (cumotion.CollisionFreeIkSolver.OrientationConstraintGoalset static method) (cumotion.TrajectoryOptimizer.CSpaceTarget.OrientationPathConstraint static method) (cumotion.TrajectoryOptimizer.CSpaceTarget.TranslationPathConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraintGoalset static method)

num_cspace_coords() (cumotion.CompositePathSpec method) (cumotion.CSpacePath method) (cumotion.CSpacePathSpec method) (cumotion.CSpaceTrajectoryGenerator method) (cumotion.Kinematics method) (cumotion.LinearCSpacePath method) (cumotion.RobotDescription method) (cumotion.Trajectory method) num_descents (cumotion.IkResults property) num_enabled_obstacles() (cumotion.WorldInspector method) num_path_specs() (cumotion.CompositePathSpec method) num_self_collision_spheres() (cumotion.RobotWorldInspector method) num_triangles() (cumotion.CollisionSphereGenerator method) num_world_collision_spheres() (cumotion.RobotWorldInspector method)

O

Obstacle (class in cumotion) Obstacle.Attribute (class in cumotion) Obstacle.AttributeValue (class in cumotion) Obstacle.Grid (class in cumotion)

Obstacle.GridPrecision (class in cumotion) Obstacle.Type (class in cumotion) orientation() (cumotion.Kinematics method) orientation_jacobian() (cumotion.Kinematics method) orientation_tolerance (cumotion.IkConfig property)

P

path (cumotion.MotionPlanner.Results property) path_found (cumotion.MotionPlanner.Results property) path_length() (cumotion.CSpacePath method) (cumotion.LinearCSpacePath method) (cumotion.TaskSpacePath method) path_spec_type() (cumotion.CompositePathSpec method) plan_to_cspace_target() (cumotion.MotionPlanner method) (cumotion.TrajectoryOptimizer method) plan_to_pose_target() (cumotion.MotionPlanner method)

plan_to_task_space_goalset() (cumotion.TrajectoryOptimizer method) plan_to_task_space_target() (cumotion.TrajectoryOptimizer method) plan_to_translation_target() (cumotion.MotionPlanner method) pose() (cumotion.Kinematics method) Pose3 (class in cumotion) position() (cumotion.Kinematics method) position_error (cumotion.IkResults property) position_jacobian() (cumotion.Kinematics method) position_tolerance (cumotion.IkConfig property)

R

radius (cumotion.CollisionSphereGenerator.Sphere property) RADIUS (cumotion.Obstacle.Attribute attribute) remove_obstacle() (cumotion.World method) RmpFlow (class in cumotion)

RmpFlowConfig (class in cumotion) RobotDescription (class in cumotion) RobotWorldInspector (class in cumotion) rotation (cumotion.Pose3 property) Rotation3 (class in cumotion)

S

sampling_seed (cumotion.IkConfig property) scaled_axis() (cumotion.Rotation3 method) SDF (cumotion.Obstacle.Type attribute) self_collision_sphere_frame_name() (cumotion.RobotWorldInspector method) self_collision_sphere_positions() (cumotion.RobotWorldInspector method) self_collision_sphere_radii() (cumotion.RobotWorldInspector method) set_acceleration_limits() (cumotion.CSpaceTrajectoryGenerator method) set_all_params() (cumotion.RmpFlowConfig method) set_attribute() (cumotion.Obstacle method) set_cspace_attractor() (cumotion.RmpFlow method) set_default_logger_prefix() (in module cumotion) set_default_logger_text_style() (in module cumotion) set_end_effector_orientation_attractor() (cumotion.RmpFlow method) set_end_effector_position_attractor() (cumotion.RmpFlow method) set_jerk_limits() (cumotion.CSpaceTrajectoryGenerator method) set_log_level() (in module cumotion) set_param() (cumotion.CollisionFreeIkSolverConfig method) (cumotion.CollisionSphereGenerator method) (cumotion.MotionPlannerConfig method) (cumotion.RmpFlowConfig method) (cumotion.TrajectoryOptimizerConfig method)

set_pose() (cumotion.World method) set_position_limits() (cumotion.CSpaceTrajectoryGenerator method) set_sdf_grid_values_from_host() (cumotion.World method) set_solver_param() (cumotion.CSpaceTrajectoryGenerator method) set_velocity_limits() (cumotion.CSpaceTrajectoryGenerator method) set_world_view() (cumotion.RmpFlowConfig method) (cumotion.RobotWorldInspector method) SIDE_LENGTHS (cumotion.Obstacle.Attribute attribute) SKIP (cumotion.CompositePathSpec.TransitionMode attribute) slerp() (cumotion.Rotation3 static method) solve() (cumotion.CollisionFreeIkSolver method) solve_goalset() (cumotion.CollisionFreeIkSolver method) solve_ik() (in module cumotion) span() (cumotion.CSpacePath.Domain method) (cumotion.TaskSpacePath.Domain method) (cumotion.Trajectory.Domain method) SPHERE (cumotion.Obstacle.Type attribute) status() (cumotion.CollisionFreeIkSolver.Results method) (cumotion.TrajectoryOptimizer.Results method) SUCCESS (cumotion.CollisionFreeIkSolver.Results.Status attribute) success (cumotion.IkResults property) SUCCESS (cumotion.TrajectoryOptimizer.Results.Status attribute)

T

target() (cumotion.CollisionFreeIkSolver.OrientationConstraint static method) (cumotion.CollisionFreeIkSolver.OrientationConstraintGoalset static method) (cumotion.CollisionFreeIkSolver.TranslationConstraint static method) (cumotion.CollisionFreeIkSolver.TranslationConstraintGoalset static method) (cumotion.TrajectoryOptimizer.TranslationConstraint static method) (cumotion.TrajectoryOptimizer.TranslationConstraintGoalset static method) target_index() (cumotion.TrajectoryOptimizer.Results method) target_indices() (cumotion.CollisionFreeIkSolver.Results method) TASK_SPACE (cumotion.CompositePathSpec.PathSpecType attribute) task_space_path_spec() (cumotion.CompositePathSpec method) TaskSpacePath (class in cumotion) TaskSpacePath.Domain (class in cumotion) TaskSpacePathConversionConfig (class in cumotion) TaskSpacePathSpec (class in cumotion) terminal_and_path_axis() (cumotion.TrajectoryOptimizer.OrientationConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraintGoalset static method) terminal_and_path_target() (cumotion.TrajectoryOptimizer.OrientationConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraintGoalset static method) terminal_axis() (cumotion.TrajectoryOptimizer.OrientationConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraintGoalset static method) terminal_target() (cumotion.TrajectoryOptimizer.OrientationConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraintGoalset static method)

terminal_target_and_path_axis() (cumotion.TrajectoryOptimizer.OrientationConstraint static method) (cumotion.TrajectoryOptimizer.OrientationConstraintGoalset static method) tool_frame_names() (cumotion.RobotDescription method) Trajectory (class in cumotion) trajectory() (cumotion.TrajectoryOptimizer.Results method) Trajectory.Domain (class in cumotion) TRAJECTORY_OPTIMIZATION_FAILURE (cumotion.TrajectoryOptimizer.Results.Status attribute) TrajectoryOptimizer (class in cumotion) TrajectoryOptimizer.CSpaceTarget (class in cumotion) TrajectoryOptimizer.CSpaceTarget.OrientationPathConstraint (class in cumotion) TrajectoryOptimizer.CSpaceTarget.TranslationPathConstraint (class in cumotion) TrajectoryOptimizer.OrientationConstraint (class in cumotion) TrajectoryOptimizer.OrientationConstraintGoalset (class in cumotion) TrajectoryOptimizer.Results (class in cumotion) TrajectoryOptimizer.Results.Status (class in cumotion) TrajectoryOptimizer.TaskSpaceTarget (class in cumotion) TrajectoryOptimizer.TaskSpaceTargetGoalset (class in cumotion) TrajectoryOptimizer.TranslationConstraint (class in cumotion) TrajectoryOptimizer.TranslationConstraintGoalset (class in cumotion) TrajectoryOptimizerConfig (class in cumotion) TrajectoryOptimizerConfig.ParamValue (class in cumotion) translation (cumotion.Pose3 property) type() (cumotion.Obstacle method)

U

update() (cumotion.WorldViewHandle method) upper (cumotion.CSpacePath.Domain property) (cumotion.Kinematics.Limits property) (cumotion.MotionPlannerConfig.Limit property) (cumotion.TaskSpacePath.Domain property) (cumotion.Trajectory.Domain property)

V

value (cumotion.CollisionFreeIkSolver.Results.Status property) (cumotion.CompositePathSpec.PathSpecType property) (cumotion.CompositePathSpec.TransitionMode property) (cumotion.CSpaceTrajectoryGenerator.InterpolationMode property) (cumotion.IkConfig.CSpaceLimitBiasing property) (cumotion.Obstacle.Attribute property) (cumotion.Obstacle.GridPrecision property) (cumotion.Obstacle.Type property) (cumotion.TrajectoryOptimizer.Results.Status property)

W

w() (cumotion.Rotation3 method) waypoints() (cumotion.LinearCSpacePath method) within_cspace_limits() (cumotion.Kinematics method) World (class in cumotion) World.ObstacleHandle (class in cumotion)

world_collision_sphere_frame_name() (cumotion.RobotWorldInspector method) world_collision_sphere_positions() (cumotion.RobotWorldInspector method) world_collision_sphere_radii() (cumotion.RobotWorldInspector method) WorldInspector (class in cumotion) WorldViewHandle (class in cumotion)

X

x() (cumotion.Rotation3 method)

x_axis_orientation_error (cumotion.IkResults property)

Y

y() (cumotion.Rotation3 method)

y_axis_orientation_error (cumotion.IkResults property)

Z

z() (cumotion.Rotation3 method)

z_axis_orientation_error (cumotion.IkResults property)