Index

A

a (copp_py.interpolation.Profile3rd attribute) a_to_b_topp2() (in module copp_py.interpolation) add_acceleration_limits() (copp_py.robot.Robot method) add_constraint_1st() (copp_py.constraints.Constraints method) add_constraint_2nd() (copp_py.constraints.Constraints method) add_constraint_3rd() (copp_py.constraints.Constraints method) add_jerk_limits() (copp_py.robot.Robot method)

add_torque_limits() (copp_py.robot.Robot method) add_velocity_limits() (copp_py.robot.Robot method) alpha (copp_py.objective.Linear attribute) amax_substitute() (copp_py.constraints.Constraints method) amax_values() (copp_py.constraints.Constraints method) append_s() (copp_py.constraints.Constraints method) (copp_py.robot.Robot method)

B

b (copp_py.interpolation.Profile3rd attribute) backward() (in module copp_py.solver.reach_set2)

beta (copp_py.objective.Linear attribute) bidirectional() (in module copp_py.solver.reach_set2)

C

capacity (copp_py.constraints.Constraints attribute) (copp_py.robot.Robot attribute) clear() (copp_py.constraints.Constraints method) clear_inverse_dynamics() (copp_py.robot.Robot method) ConstraintError Constraints (class in copp_py.constraints) constraints (copp_py.robot.Robot attribute) Copp2Result (in module copp_py.clarabel) Copp3Result (in module copp_py.clarabel) copp_py module copp_py.objective module

copp_py.solver.copp2_socp module copp_py.solver.copp3_socp module copp_py.solver.reach_set2 module copp_py.solver.topp2_ra module copp_py.solver.topp3_lp module copp_py.solver.topp3_socp module CoppError

D

dddq (copp_py.path.PathDerivatives attribute) ddq (copp_py.path.PathDerivatives attribute) dim (copp_py.constraints.Constraints attribute) (copp_py.path.Path attribute) (copp_py.robot.Robot attribute)

DirectSolveMethod (in module copp_py.clarabel) dq (copp_py.path.PathDerivatives attribute)

E

end_state (copp_py.path.SplineConfig attribute) evaluate_q() (copp_py.path.Path method)

evaluate_up_to_2nd() (copp_py.path.Path method) evaluate_up_to_3rd() (copp_py.path.Path method)

F

from_autograd() (copp_py.path.Path static method) from_casadi() (copp_py.path.Path static method) from_evaluator() (copp_py.path.Path static method) from_evaluator_2nd() (copp_py.path.Path static method)

from_evaluator_3rd() (copp_py.path.Path static method) from_jax() (copp_py.path.Path static method) from_sympy() (copp_py.path.Path static method) from_waypoints() (copp_py.path.Path static method)

H

has_inverse_dynamics (copp_py.robot.Robot attribute)

I

idx_s_range (copp_py.constraints.Constraints attribute) (copp_py.robot.Robot attribute)

is_empty (copp_py.constraints.Constraints attribute) (copp_py.robot.Robot attribute)

L

len (copp_py.constraints.Constraints attribute) (copp_py.interpolation.Profile3rd attribute) (copp_py.robot.Robot attribute)

Linear (class in copp_py.objective) LinearSolverInfo (in module copp_py.clarabel)

M

MatrixLayout (class in copp_py) module copp_py copp_py.objective copp_py.solver.copp2_socp copp_py.solver.copp3_socp copp_py.solver.reach_set2 copp_py.solver.topp2_ra copp_py.solver.topp3_lp copp_py.solver.topp3_socp

N

normalize (copp_py.objective.ThermalEnergy attribute) (copp_py.objective.TotalVariationTorque attribute)

num_stationary (copp_py.interpolation.Profile3rd attribute) num_stationary_end (copp_py.interpolation.Profile3rd attribute) num_stationary_start (copp_py.interpolation.Profile3rd attribute)

O

Options (in module copp_py.clarabel) (in module copp_py.solver.copp2_socp) (in module copp_py.solver.copp3_socp) (in module copp_py.solver.reach_set2) (in module copp_py.solver.topp2_ra) (in module copp_py.solver.topp3_lp) (in module copp_py.solver.topp3_socp)

order (copp_py.path.SplineConfig attribute) out_of_range (copp_py.path.SplineConfig attribute) OutOfRangeMode (class in copp_py)

P

Parametrization (class in copp_py) parametrization (copp_py.path.SplineConfig attribute) Path (class in copp_py.path) PathDerivatives (class in copp_py.path) PathError point_mass() (copp_py.robot.Robot static method) pop_back_n() (copp_py.constraints.Constraints method) pop_back_until() (copp_py.constraints.Constraints method) pop_front_n() (copp_py.constraints.Constraints method) pop_front_until() (copp_py.constraints.Constraints method)

Problem (in module copp_py.solver.copp2_socp) (in module copp_py.solver.copp3_socp) (in module copp_py.solver.reach_set2) (in module copp_py.solver.topp2_ra) (in module copp_py.solver.topp3_lp) (in module copp_py.solver.topp3_socp) Profile (in module copp_py.solver.copp3_socp) (in module copp_py.solver.topp3_lp) (in module copp_py.solver.topp3_socp) Profile3rd (class in copp_py.interpolation)

Q

q (copp_py.path.PathDerivatives attribute)

R

ReachSet (in module copp_py.solver.reach_set2) (in module copp_py.solver.topp2_ra) Result (in module copp_py.solver.copp2_socp) (in module copp_py.solver.copp3_socp) (in module copp_py.solver.topp3_lp) (in module copp_py.solver.topp3_socp)

Robot (class in copp_py.robot)

S

s_max (copp_py.path.SplineConfig attribute) s_min (copp_py.path.SplineConfig attribute) s_range (copp_py.path.Path attribute) s_to_t_topp2() (in module copp_py.interpolation) s_to_t_topp3() (in module copp_py.interpolation) s_values() (copp_py.constraints.Constraints method) set_inverse_dynamics() (copp_py.robot.Robot method) set_q() (copp_py.robot.Robot method) set_q_from_path_2nd() (copp_py.robot.Robot method) set_q_from_path_3rd() (copp_py.robot.Robot method) Settings (in module copp_py.clarabel)

solve() (in module copp_py.solver.copp2_socp) (in module copp_py.solver.copp3_socp) (in module copp_py.solver.topp2_ra) (in module copp_py.solver.topp3_lp) (in module copp_py.solver.topp3_socp) solve_expert() (in module copp_py.solver.copp2_socp) (in module copp_py.solver.copp3_socp) (in module copp_py.solver.topp3_lp) (in module copp_py.solver.topp3_socp) SolverStatus (in module copp_py.clarabel) SplineConfig (class in copp_py.path) start_state (copp_py.path.SplineConfig attribute)

T

t_to_s_topp2() (in module copp_py.interpolation) t_to_s_topp2_samples() (in module copp_py.interpolation) t_to_s_topp2_uniform() (in module copp_py.interpolation) t_to_s_topp3() (in module copp_py.interpolation)

t_to_s_topp3_samples() (in module copp_py.interpolation) t_to_s_topp3_uniform() (in module copp_py.interpolation) ThermalEnergy (class in copp_py.objective) Time (class in copp_py.objective) TotalVariationTorque (class in copp_py.objective)

V

Verbosity (class in copp_py)

version() (in module copp_py)

W

weight (copp_py.objective.Linear attribute) (copp_py.objective.ThermalEnergy attribute) (copp_py.objective.Time attribute) (copp_py.objective.TotalVariationTorque attribute)