Index

A

A (pink.tasks.LinearHolonomicTask attribute)

a_max (pink.limits.AccelerationLimit attribute) AccelerationLimit (class in pink.limits)

B

b (pink.tasks.LinearHolonomicTask attribute) Barrier (class in pink.barriers)

BodySphericalBarrier (class in pink.barriers) build_ik() (in module pink.solve_ik)

C

check_limits() (pink.configuration.Configuration method) collision_data (pink.configuration.Configuration attribute) collision_model (pink.configuration.Configuration attribute) compute_barrier() (pink.barriers.Barrier method) (pink.barriers.BodySphericalBarrier method) (pink.barriers.PositionBarrier method) (pink.barriers.SelfCollisionBarrier method) compute_error() (pink.tasks.ComTask method) (pink.tasks.DampingTask method) (pink.tasks.FrameTask method) (pink.tasks.JointVelocityTask method) (pink.tasks.LinearHolonomicTask method) (pink.tasks.LowAccelerationTask method) (pink.tasks.ManipulabilityTask method) (pink.tasks.OmniwheelTask method) (pink.tasks.PostureTask method) (pink.tasks.RelativeFrameTask method) (pink.tasks.RollingTask method) (pink.tasks.Task method) (pink.tasks.task.Task method) compute_jacobian() (pink.barriers.Barrier method) (pink.barriers.BodySphericalBarrier method) (pink.barriers.PositionBarrier method) (pink.barriers.SelfCollisionBarrier method) (pink.tasks.ComTask method) (pink.tasks.FrameTask method) (pink.tasks.JointVelocityTask method) (pink.tasks.LinearHolonomicTask method) (pink.tasks.ManipulabilityTask method) (pink.tasks.OmniwheelTask method) (pink.tasks.PostureTask method) (pink.tasks.RelativeFrameTask method) (pink.tasks.RollingTask method) (pink.tasks.Task method) (pink.tasks.task.Task method)

compute_kinematic_hessian() (pink.tasks.ManipulabilityTask method) compute_manipulability() (pink.tasks.ManipulabilityTask method) compute_qp_inequalities() (pink.barriers.Barrier method) (pink.limits.AccelerationLimit method) (pink.limits.ConfigurationLimit method) (pink.limits.FloatingBaseVelocityLimit method) (pink.limits.Limit method) (pink.limits.VelocityLimit method) compute_qp_objective() (pink.barriers.Barrier method) (pink.tasks.Task method) (pink.tasks.task.Task method) compute_safe_displacement() (pink.barriers.Barrier method) ComTask (class in pink.tasks) config_limit_gain (pink.limits.ConfigurationLimit attribute) Configuration (class in pink.configuration) ConfigurationError ConfigurationLimit (class in pink.limits) cost (pink.tasks.ManipulabilityTask attribute) (pink.tasks.Task attribute) (pink.tasks.task.Task attribute)

D

d_min (pink.barriers.BodySphericalBarrier attribute) (pink.barriers.SelfCollisionBarrier attribute) DampingTask (class in pink.tasks)

data (pink.configuration.Configuration attribute) Delta_q_prev (pink.limits.AccelerationLimit attribute) (pink.tasks.LowAccelerationTask attribute) dim (pink.barriers.Barrier attribute)

F

FloatingBaseVelocityLimit (class in pink.limits) floor_frame (pink.tasks.OmniwheelTask attribute) (pink.tasks.RollingTask attribute) frame (pink.barriers.PositionBarrier attribute) (pink.tasks.FrameTask attribute) (pink.tasks.ManipulabilityTask attribute) (pink.tasks.RelativeFrameTask attribute)

FrameNotFound frames (pink.barriers.BodySphericalBarrier attribute) FrameTask (class in pink.tasks)

G

gain (pink.barriers.Barrier attribute) (pink.tasks.Task attribute) (pink.tasks.task.Task attribute)

gain_function (pink.barriers.Barrier attribute) get_frame_jacobian() (pink.configuration.Configuration method) get_transform() (pink.configuration.Configuration method) get_transform_frame_to_world() (pink.configuration.Configuration method)

H

hub_frame (pink.tasks.OmniwheelTask attribute) (pink.tasks.RollingTask attribute)

I

indices (pink.barriers.PositionBarrier attribute) (pink.limits.AccelerationLimit attribute) (pink.limits.VelocityLimit attribute)

integrate() (pink.configuration.Configuration method) integrate_inplace() (pink.configuration.Configuration method) InvalidCollisionPairs

J

joint (pink.exceptions.NotWithinConfigurationLimits attribute) joint_names (pink.tasks.JointCouplingTask attribute) JointCouplingTask (class in pink.tasks)

joints (pink.limits.ConfigurationLimit attribute) (pink.limits.VelocityLimit attribute) JointVelocityTask (class in pink.tasks)

L

Limit (class in pink.limits) LinearHolonomicTask (class in pink.tasks) lm_damping (pink.tasks.Task attribute) (pink.tasks.task.Task attribute)

LowAccelerationTask (class in pink.tasks) lower (pink.exceptions.NotWithinConfigurationLimits attribute)

M

manipulability_rate (pink.tasks.ManipulabilityTask attribute) ManipulabilityTask (class in pink.tasks) model (pink.configuration.Configuration attribute) (pink.limits.AccelerationLimit attribute) (pink.limits.ConfigurationLimit attribute) (pink.limits.VelocityLimit attribute)

module pink.barriers pink.configuration pink.exceptions pink.limits pink.tasks pink.tasks.task

N

NegativeMinimumDistance NoPositionLimitProvided

NoSolutionFound NotWithinConfigurationLimits

O

OmniwheelTask (class in pink.tasks)

orientation_cost (pink.tasks.FrameTask property)

P

p_max (pink.barriers.PositionBarrier attribute) p_min (pink.barriers.PositionBarrier attribute) pink.barriers module pink.configuration module pink.exceptions module pink.limits module

pink.tasks module pink.tasks.task module PinkError position_cost (pink.tasks.FrameTask property) PositionBarrier (class in pink.barriers) PostureTask (class in pink.tasks) projection_matrix (pink.limits.AccelerationLimit attribute) (pink.limits.ConfigurationLimit attribute) (pink.limits.VelocityLimit attribute)

Q

q (pink.configuration.Configuration attribute)

q_0 (pink.tasks.LinearHolonomicTask attribute)

R

ratios (pink.tasks.JointCouplingTask attribute) reference_frame (pink.tasks.ManipulabilityTask attribute)

RelativeFrameTask (class in pink.tasks) RollingTask (class in pink.tasks) root (pink.tasks.RelativeFrameTask attribute)

S

safe_displacement (pink.barriers.Barrier attribute) safe_displacement_gain (pink.barriers.Barrier attribute) SelfCollisionBarrier (class in pink.barriers) set_cost() (pink.tasks.ComTask method) set_last_integration() (pink.limits.AccelerationLimit method) (pink.tasks.LowAccelerationTask method) set_orientation_cost() (pink.tasks.FrameTask method) (pink.tasks.RelativeFrameTask method) set_position_cost() (pink.tasks.FrameTask method) (pink.tasks.RelativeFrameTask method)

set_target() (pink.tasks.ComTask method) (pink.tasks.FrameTask method) (pink.tasks.JointVelocityTask method) (pink.tasks.PostureTask method) (pink.tasks.RelativeFrameTask method) set_target_from_configuration() (pink.tasks.ComTask method) (pink.tasks.FrameTask method) (pink.tasks.PostureTask method) (pink.tasks.RelativeFrameTask method) solve_ik() (in module pink.solve_ik)

T

target_com (pink.tasks.ComTask attribute) target_q (pink.tasks.PostureTask attribute) TargetNotSet Task (class in pink.tasks) (class in pink.tasks.task)

TaskDefinitionError TaskJacobianNotSet transform_target_to_root (pink.tasks.RelativeFrameTask attribute) transform_target_to_world (pink.tasks.FrameTask attribute)

U

update() (pink.configuration.Configuration method)

upper (pink.exceptions.NotWithinConfigurationLimits attribute)

V

value (pink.exceptions.NotWithinConfigurationLimits attribute)

VelocityLimit (class in pink.limits)

W

wheel_radius (pink.tasks.OmniwheelTask attribute) (pink.tasks.RollingTask attribute)