Index

A

A (pink.tasks.linear_holonomic_task.LinearHolonomicTask attribute)

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

B

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

BodySphericalBarrier (class in pink.barriers.body_spherical_barrier) 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.Barrier method) (pink.barriers.body_spherical_barrier.BodySphericalBarrier method) (pink.barriers.position_barrier.PositionBarrier method) (pink.barriers.self_collision_barrier.SelfCollisionBarrier method) compute_error() (pink.tasks.frame_task.FrameTask method) (pink.tasks.linear_holonomic_task.LinearHolonomicTask method) (pink.tasks.posture_task.PostureTask method) (pink.tasks.relative_frame_task.RelativeFrameTask method) (pink.tasks.rolling_task.RollingTask method) (pink.tasks.task.Task method) compute_jacobian() (pink.barriers.barrier.Barrier method) (pink.barriers.body_spherical_barrier.BodySphericalBarrier method) (pink.barriers.position_barrier.PositionBarrier method) (pink.barriers.self_collision_barrier.SelfCollisionBarrier method) (pink.tasks.frame_task.FrameTask method) (pink.tasks.linear_holonomic_task.LinearHolonomicTask method) (pink.tasks.posture_task.PostureTask method) (pink.tasks.relative_frame_task.RelativeFrameTask method) (pink.tasks.rolling_task.RollingTask method) (pink.tasks.task.Task method)

compute_qp_inequalities() (pink.barriers.barrier.Barrier method) (pink.limits.acceleration_limit.AccelerationLimit method) (pink.limits.configuration_limit.ConfigurationLimit method) (pink.limits.limit.Limit method) (pink.limits.velocity_limit.VelocityLimit method) compute_qp_objective() (pink.barriers.barrier.Barrier method) (pink.tasks.task.Task method) compute_safe_displacement() (pink.barriers.barrier.Barrier method) config_limit_gain (pink.limits.configuration_limit.ConfigurationLimit attribute) Configuration (class in pink.configuration) ConfigurationError ConfigurationLimit (class in pink.limits.configuration_limit) cost (pink.tasks.task.Task attribute)

D

d_min (pink.barriers.body_spherical_barrier.BodySphericalBarrier attribute) (pink.barriers.self_collision_barrier.SelfCollisionBarrier attribute)

data (pink.configuration.Configuration attribute) Delta_q_prev (pink.limits.acceleration_limit.AccelerationLimit attribute) dim (pink.barriers.barrier.Barrier attribute)

F

floor_frame (pink.tasks.rolling_task.RollingTask attribute) frame (pink.barriers.position_barrier.PositionBarrier attribute) (pink.tasks.frame_task.FrameTask attribute) (pink.tasks.relative_frame_task.RelativeFrameTask attribute)

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

G

gain (pink.barriers.barrier.Barrier attribute) (pink.tasks.task.Task attribute) gain_function (pink.barriers.barrier.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.rolling_task.RollingTask attribute)

I

indices (pink.barriers.position_barrier.PositionBarrier attribute) (pink.limits.acceleration_limit.AccelerationLimit attribute) (pink.limits.velocity_limit.VelocityLimit attribute)

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

J

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

joints (pink.limits.configuration_limit.ConfigurationLimit attribute) (pink.limits.velocity_limit.VelocityLimit attribute)

L

Limit (class in pink.limits.limit) LinearHolonomicTask (class in pink.tasks.linear_holonomic_task)

lm_damping (pink.tasks.task.Task attribute) lower (pink.exceptions.NotWithinConfigurationLimits attribute)

M

model (pink.configuration.Configuration attribute) (pink.limits.acceleration_limit.AccelerationLimit attribute) (pink.limits.configuration_limit.ConfigurationLimit attribute) (pink.limits.velocity_limit.VelocityLimit attribute) module pink.barriers.barrier pink.barriers.body_spherical_barrier pink.barriers.position_barrier pink.barriers.self_collision_barrier pink.configuration pink.exceptions pink.limits.acceleration_limit pink.limits.configuration_limit pink.limits.limit pink.limits.velocity_limit pink.tasks.frame_task pink.tasks.joint_coupling_task pink.tasks.linear_holonomic_task pink.tasks.posture_task pink.tasks.relative_frame_task pink.tasks.rolling_task pink.tasks.task

N

NotWithinConfigurationLimits

P

p_max (pink.barriers.position_barrier.PositionBarrier attribute) p_min (pink.barriers.position_barrier.PositionBarrier attribute) pink.barriers.barrier module pink.barriers.body_spherical_barrier module pink.barriers.position_barrier module pink.barriers.self_collision_barrier module pink.configuration module pink.exceptions module pink.limits.acceleration_limit module pink.limits.configuration_limit module pink.limits.limit module pink.limits.velocity_limit module

pink.tasks.frame_task module pink.tasks.joint_coupling_task module pink.tasks.linear_holonomic_task module pink.tasks.posture_task module pink.tasks.relative_frame_task module pink.tasks.rolling_task module pink.tasks.task module PinkError PositionBarrier (class in pink.barriers.position_barrier) PostureTask (class in pink.tasks.posture_task) projection_matrix (pink.limits.acceleration_limit.AccelerationLimit attribute) (pink.limits.configuration_limit.ConfigurationLimit attribute) (pink.limits.velocity_limit.VelocityLimit attribute)

Q

q (pink.configuration.Configuration attribute)

q_0 (pink.tasks.linear_holonomic_task.LinearHolonomicTask attribute)

R

RelativeFrameTask (class in pink.tasks.relative_frame_task)

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

S

safe_displacement (pink.barriers.barrier.Barrier attribute) safe_displacement_gain (pink.barriers.barrier.Barrier attribute) SelfCollisionBarrier (class in pink.barriers.self_collision_barrier) set_last_integration() (pink.limits.acceleration_limit.AccelerationLimit method) set_orientation_cost() (pink.tasks.frame_task.FrameTask method) (pink.tasks.relative_frame_task.RelativeFrameTask method) set_position_cost() (pink.tasks.frame_task.FrameTask method) (pink.tasks.relative_frame_task.RelativeFrameTask method)

set_target() (pink.tasks.frame_task.FrameTask method) (pink.tasks.posture_task.PostureTask method) (pink.tasks.relative_frame_task.RelativeFrameTask method) set_target_from_configuration() (pink.tasks.frame_task.FrameTask method) (pink.tasks.posture_task.PostureTask method) (pink.tasks.relative_frame_task.RelativeFrameTask method) solve_ik() (in module pink.solve_ik)

T

target_q (pink.tasks.posture_task.PostureTask attribute) Task (class in pink.tasks.task)

transform_target_to_root (pink.tasks.relative_frame_task.RelativeFrameTask attribute) transform_target_to_world (pink.tasks.frame_task.FrameTask attribute)

U

update() (pink.configuration.Configuration method)

upper (pink.exceptions.NotWithinConfigurationLimits attribute)

V

value (pink.exceptions.NotWithinConfigurationLimits attribute)

VelocityLimit (class in pink.limits.velocity_limit)

W

wheel_radius (pink.tasks.rolling_task.RollingTask attribute)