Index

A

acceptable_tolerance (figaroh.tools.robotipopt.IPOPTConfig attribute), [1] act_idxq (figaroh.utils.cubic_spline.CubicSpline attribute) act_idxv (figaroh.utils.cubic_spline.CubicSpline attribute) act_J (figaroh.utils.cubic_spline.CubicSpline attribute) act_Jid (figaroh.utils.cubic_spline.CubicSpline attribute) act_Jname (figaroh.utils.cubic_spline.CubicSpline attribute) actuated_joint_names (figaroh.tools.robot.Robot property) add_additional_parameters() (figaroh.identification.base_identification.BaseIdentification method) add_base_name() (in module figaroh.calibration.calibration_tools) add_collisions() (figaroh.tools.robotcollisions.CollisionWrapper method) add_constraints() (figaroh.optimal.base_optimal_calibration.SOCPOptimizer method)

add_custom_parameters() (in module figaroh.identification.identification_tools) add_eemarker_frame() (in module figaroh.calibration.calibration_tools) add_pee_name() (in module figaroh.calibration.calibration_tools) add_SE3_measurement() (figaroh.measurements.measurement.Measurement method) add_standard_additional_parameters() (in module figaroh.identification.identification_tools) addBox() (figaroh.visualisation.visualizer.MeshcatVisualizer method) addCylinder() (figaroh.visualisation.visualizer.MeshcatVisualizer method) additional_columns (figaroh.tools.regressor.RegressorConfig attribute) addSphere() (figaroh.visualisation.visualizer.MeshcatVisualizer method) apply_measurement_weighting() (figaroh.calibration.base_calibration.BaseCalibration method) applyConfiguration() (figaroh.visualisation.visualizer.MeshcatVisualizer method) axes_color (figaroh.tools.robotvisualization.VisualizationConfig attribute)

B

base_param_from_standard() (in module figaroh.identification.identification_tools) BaseCalibration (class in figaroh.calibration.base_calibration) BaseIdentification (class in figaroh.identification.base_identification) BaseOptimalCalibration (class in figaroh.optimal) (class in figaroh.optimal.base_optimal_calibration) BaseOptimalTrajectory (class in figaroh.optimal) (class in figaroh.optimal.base_optimal_trajectory) BaseOptimizationProblem (class in figaroh.tools.robotipopt) BaseParameterComputer (class in figaroh.optimal.base_optimal_trajectory)

BaseTrajectoryIPOPTProblem (class in figaroh.optimal.base_optimal_trajectory) bbox_color (figaroh.tools.robotvisualization.VisualizationConfig attribute) build_base_regressor() (figaroh.optimal.base_optimal_trajectory.BaseOptimalTrajectory method) (figaroh.optimal.BaseOptimalTrajectory method) build_baseRegressor() (in module figaroh.tools.qrdecomposition) build_basic_regressor() (figaroh.tools.regressor.RegressorBuilder method) build_regressor_basic() (in module figaroh.tools.regressor) build_regressor_reduced() (in module figaroh.tools.regressor) build_total_regressor_current() (in module figaroh.tools.regressor) build_total_regressor_wrench() (in module figaroh.tools.regressor)

C

calc_stddev() (figaroh.calibration.base_calibration.BaseCalibration method) calc_torque() (in module figaroh.utils.cubic_spline) calc_updated_fkm() (in module figaroh.calibration.calibration_tools) calculate_base_kinematics_regressor() (in module figaroh.calibration.calibration_tools) calculate_detroot_whole() (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method) calculate_first_second_order_differentiation() (in module figaroh.identification.identification_tools) calculate_full_regressor() (figaroh.identification.base_identification.BaseIdentification method) calculate_identifiable_kinematics_model() (in module figaroh.calibration.calibration_tools) calculate_kinematics_model() (in module figaroh.calibration.calibration_tools) calculate_optimal_configurations() (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method) calculate_regressor() (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method) calib_config (figaroh.calibration.base_calibration.BaseCalibration attribute) (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.base_optimal_calibration.SOCPOptimizer attribute) (figaroh.optimal.BaseOptimalCalibration attribute) CalibrationError callback_data (figaroh.tools.robotipopt.BaseOptimizationProblem attribute) cartesian_to_SE3() (in module figaroh.calibration.calibration_tools) check_cfg_constraints() (figaroh.utils.cubic_spline.CubicSpline method) check_collision() (figaroh.tools.robotcollisions.CollisionWrapper method) check_collisions() (figaroh.tools.robotcollisions.CollisionManager method) check_derivatives (figaroh.tools.robotipopt.IPOPTConfig attribute), [1]

check_repeat_wp() (figaroh.utils.cubic_spline.WaypointsGeneration method) check_self_collision() (figaroh.utils.cubic_spline.CubicSpline method) CollisionManager (class in figaroh.tools.robotcollisions) CollisionWrapper (class in figaroh.tools.robotcollisions) COLORS (figaroh.utils.results_manager.ResultsManager attribute) com_color (figaroh.tools.robotvisualization.VisualizationConfig attribute) compute_base_indices() (figaroh.optimal.base_optimal_trajectory.BaseParameterComputer method) computeCollisions() (figaroh.tools.robotcollisions.CollisionWrapper method) cond_num() (in module figaroh.tools.qrdecomposition) config (figaroh.tools.robotipopt.RobotIPOPTSolver attribute) config_type (figaroh.utils.config_parser.ConfigMetadata attribute) ConfigMetadata (class in figaroh.utils.config_parser) ConfigurationError ConfigurationManager (class in figaroh.optimal.base_optimal_trajectory) constraints() (figaroh.optimal.base_optimal_trajectory.BaseTrajectoryIPOPTProblem method) (figaroh.tools.robotipopt.BaseOptimizationProblem method) (figaroh.tools.robotipopt.TrajectoryOptimizationProblem method) cost_function() (figaroh.calibration.base_calibration.BaseCalibration method) create_param_list() (figaroh.calibration.base_calibration.BaseCalibration method) create_robot() (in module figaroh.tools.robot) create_task_config() (in module figaroh.utils.config_parser) create_trajectory_solver() (in module figaroh.tools.robotipopt) CubicSpline (class in figaroh.utils.cubic_spline) cur_set (figaroh.optimal.base_optimal_calibration.Detmax attribute) custom_options (figaroh.tools.robotipopt.IPOPTConfig attribute), [1]

D

data (figaroh.calibration.base_calibration.BaseCalibration attribute) (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) DataProcessingError decompose_with_pivoting() (figaroh.tools.qrdecomposition.QRDecomposer method) DEFAULT_FREEFLYER_LIMITS (figaroh.tools.robot.Robot attribute) delete() (figaroh.visualisation.visualizer.MeshcatVisualizer method) Detmax (class in figaroh.optimal.base_optimal_calibration) detroot_whole (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) dim_q (figaroh.utils.cubic_spline.CubicSpline attribute) dim_v (figaroh.utils.cubic_spline.CubicSpline attribute) display_axes() (figaroh.tools.robotvisualization.RobotVisualizer method) (in module figaroh.tools.robotvisualization)

display_bounding_boxes() (figaroh.tools.robotvisualization.RobotVisualizer method) (in module figaroh.tools.robotvisualization) display_com() (figaroh.tools.robotvisualization.RobotVisualizer method) display_COM() (in module figaroh.tools.robotvisualization) display_force() (figaroh.tools.robotvisualization.RobotVisualizer method) (in module figaroh.tools.robotvisualization) display_joints() (figaroh.tools.robotvisualization.RobotVisualizer method) (in module figaroh.tools.robotvisualization) display_q0() (figaroh.tools.robot.Robot method) displayCollisions() (figaroh.tools.robotcollisions.CollisionWrapper method) double_decomposition() (figaroh.tools.qrdecomposition.QRDecomposer method) double_QR() (in module figaroh.tools.qrdecomposition)

E

eliminate_non_dynaffect() (in module figaroh.tools.regressor) ErrorContext (class in figaroh.utils.error_handling)

evaluate_constraints() (figaroh.optimal.base_optimal_trajectory.TrajectoryConstraintManager method) evaluation_metrics (figaroh.calibration.base_calibration.BaseCalibration attribute)

F

fail_set (figaroh.optimal.base_optimal_calibration.Detmax attribute) figaroh.calibration.base_calibration module figaroh.calibration.calibration_tools module figaroh.identification.base_identification module figaroh.identification.identification_tools module figaroh.measurements.measurement module figaroh.optimal module figaroh.optimal.base_optimal_calibration module figaroh.optimal.base_optimal_trajectory module figaroh.tools.qrdecomposition module figaroh.tools.randomdata module figaroh.tools.regressor module figaroh.tools.robot module

figaroh.tools.robotcollisions module figaroh.tools.robotipopt module figaroh.tools.robotvisualization module figaroh.utils.config_parser module figaroh.utils.cubic_spline module figaroh.utils.error_handling module figaroh.utils.results_manager module figaroh.visualisation.visualizer module FigarohExampleError filter_kinematics_data() (figaroh.identification.base_identification.BaseIdentification method) for_parameter_identification() (figaroh.tools.robotipopt.IPOPTConfig class method) for_trajectory_optimization() (figaroh.tools.robotipopt.IPOPTConfig class method) force_color (figaroh.tools.robotvisualization.VisualizationConfig attribute) force_torque (figaroh.tools.regressor.RegressorConfig attribute) freeflyer_limits (figaroh.tools.robot.Robot property)

G

gen_equal_wp() (figaroh.utils.cubic_spline.WaypointsGeneration method) gen_rand_pool() (figaroh.utils.cubic_spline.WaypointsGeneration method) gen_rand_wp() (figaroh.utils.cubic_spline.WaypointsGeneration method) generate_feasible_initial_guess() (figaroh.optimal.base_optimal_trajectory.BaseOptimalTrajectory method) (figaroh.optimal.BaseOptimalTrajectory method) generate_waypoints() (in module figaroh.tools.randomdata) generate_waypoints_fext() (in module figaroh.tools.randomdata) get_active_config() (figaroh.utils.cubic_spline.CubicSpline method) get_all_distances() (figaroh.tools.robotcollisions.CollisionManager method) get_available_loaders() (in module figaroh.tools.robot) get_baseIndex() (in module figaroh.tools.qrdecomposition) get_baseParams() (in module figaroh.tools.qrdecomposition) get_calibration_param_from_yaml() (in module figaroh.utils.config_parser) get_collision_details() (figaroh.tools.robotcollisions.CollisionManager method) get_collision_distances() (figaroh.tools.robotcollisions.CollisionManager method) get_configuration_bounds() (figaroh.tools.robot.Robot method) get_constraint_bounds() (figaroh.optimal.base_optimal_trajectory.BaseTrajectoryIPOPTProblem method) (figaroh.optimal.base_optimal_trajectory.TrajectoryConstraintManager method) (figaroh.tools.robotipopt.BaseOptimizationProblem method) get_critD() (figaroh.optimal.base_optimal_calibration.Detmax method) get_full_config() (figaroh.utils.cubic_spline.CubicSpline method) get_fullparam_offset() (in module figaroh.calibration.calibration_tools) get_identification_param_from_yaml() (in module figaroh.utils.config_parser) get_idxq_from_jname() (in module figaroh.calibration.calibration_tools) get_index_eliminate() (in module figaroh.tools.regressor) get_initial_guess() (figaroh.optimal.base_optimal_trajectory.BaseTrajectoryIPOPTProblem method) (figaroh.tools.robotipopt.BaseOptimizationProblem method)

get_joint_offset() (in module figaroh.calibration.calibration_tools) get_param_from_yaml() (in module figaroh.calibration.calibration_tools) (in module figaroh.identification.identification_tools) (in module figaroh.utils.config_parser) get_param_from_yaml_legacy() (in module figaroh.calibration.calibration_tools) (in module figaroh.identification.identification_tools) get_param_from_yaml_unified() (in module figaroh.calibration.calibration_tools) (in module figaroh.identification.identification_tools) get_param_from_yaml_with_warning() (in module figaroh.calibration.calibration_tools) (in module figaroh.identification.identification_tools) get_parameter_info() (in module figaroh.identification.identification_tools) get_pose_from_measure() (figaroh.calibration.base_calibration.BaseCalibration method) get_rel_jac() (in module figaroh.calibration.calibration_tools) get_rel_kinreg() (in module figaroh.calibration.calibration_tools) get_rel_transform() (in module figaroh.calibration.calibration_tools) get_solution_summary() (figaroh.tools.robotipopt.RobotIPOPTSolver method) get_standard_parameters() (in module figaroh.identification.identification_tools) get_sup_joints() (in module figaroh.calibration.calibration_tools) get_torque_rand() (in module figaroh.tools.randomdata) get_variable_bounds() (figaroh.optimal.base_optimal_trajectory.BaseTrajectoryIPOPTProblem method) (figaroh.optimal.base_optimal_trajectory.TrajectoryConstraintManager method) (figaroh.tools.robotipopt.BaseOptimizationProblem method) getAllpairs() (figaroh.tools.robotcollisions.CollisionWrapper method) getCollisionDistances() (figaroh.tools.robotcollisions.CollisionWrapper method) getCollisionList() (figaroh.tools.robotcollisions.CollisionWrapper method) getDistances() (figaroh.tools.robotcollisions.CollisionWrapper method) gradient() (figaroh.tools.robotipopt.BaseOptimizationProblem method)

H

handle_calibration_errors() (in module figaroh.utils.error_handling) handle_identification_errors() (in module figaroh.utils.error_handling) has_actuator_inertia (figaroh.tools.regressor.RegressorConfig attribute)

has_friction (figaroh.tools.regressor.RegressorConfig attribute) has_joint_offset (figaroh.tools.regressor.RegressorConfig attribute) hessian() (figaroh.tools.robotipopt.BaseOptimizationProblem method) hessian_approximation (figaroh.tools.robotipopt.IPOPTConfig attribute), [1]

I

IdentificationError index_in_base_params() (in module figaroh.identification.identification_tools) init_robot() (in module figaroh.utils.cubic_spline) initialize() (figaroh.calibration.base_calibration.BaseCalibration method) (figaroh.identification.base_identification.BaseIdentification method) (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method)

initialize_variables() (in module figaroh.calibration.calibration_tools) intermediate() (figaroh.tools.robotipopt.BaseOptimizationProblem method) IPOPTConfig (class in figaroh.tools.robotipopt) is_external_wrench (figaroh.tools.regressor.RegressorConfig attribute) is_joint_torques (figaroh.tools.regressor.RegressorConfig attribute) is_unified_config() (in module figaroh.utils.config_parser) iteration_data (figaroh.tools.robotipopt.BaseOptimizationProblem attribute)

J

jacobian() (figaroh.optimal.base_optimal_trajectory.BaseTrajectoryIPOPTProblem method) (figaroh.tools.robotipopt.BaseOptimizationProblem method)

L

last_info (figaroh.tools.robotipopt.RobotIPOPTSolver attribute) last_solution (figaroh.tools.robotipopt.RobotIPOPTSolver attribute) linear_solver (figaroh.tools.robotipopt.IPOPTConfig attribute), [1] list_available_robots() (in module figaroh.tools.robot) LM_result (figaroh.calibration.base_calibration.BaseCalibration attribute) load_candidate_configurations() (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method) load_data() (in module figaroh.calibration.calibration_tools) load_data_set() (figaroh.calibration.base_calibration.BaseCalibration method)

load_from_yaml() (figaroh.optimal.base_optimal_trajectory.ConfigurationManager static method) load_param() (figaroh.calibration.base_calibration.BaseCalibration method) (figaroh.identification.base_identification.BaseIdentification method) (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method) load_robot() (in module figaroh.tools.robot) load_trajectory_data() (figaroh.identification.base_identification.BaseIdentification method) logger (figaroh.tools.robotipopt.BaseOptimizationProblem attribute) (figaroh.tools.robotipopt.RobotIPOPTSolver attribute) low_pass_filter_data() (in module figaroh.identification.identification_tools)

M

main_algo() (figaroh.optimal.base_optimal_calibration.Detmax method) materialFromColor() (in module figaroh.visualisation.visualizer) max_cpu_time (figaroh.tools.robotipopt.IPOPTConfig attribute), [1] max_iterations (figaroh.tools.robotipopt.IPOPTConfig attribute), [1] Measurement (class in figaroh.measurements.measurement) MeshcatVisualizer (class in figaroh.visualisation.visualizer) minNbChosen (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) model (figaroh.calibration.base_calibration.BaseCalibration attribute) (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) module figaroh.calibration.base_calibration figaroh.calibration.calibration_tools figaroh.identification.base_identification figaroh.identification.identification_tools figaroh.measurements.measurement figaroh.optimal figaroh.optimal.base_optimal_calibration figaroh.optimal.base_optimal_trajectory figaroh.tools.qrdecomposition figaroh.tools.randomdata figaroh.tools.regressor figaroh.tools.robot figaroh.tools.robotcollisions figaroh.tools.robotipopt figaroh.tools.robotvisualization figaroh.utils.config_parser figaroh.utils.cubic_spline figaroh.utils.error_handling figaroh.utils.results_manager figaroh.visualisation.visualizer

N

n_set (figaroh.utils.cubic_spline.WaypointsGeneration attribute) name (figaroh.tools.robotipopt.BaseOptimizationProblem attribute)

nd (figaroh.optimal.base_optimal_calibration.Detmax attribute) num_joints (figaroh.tools.robot.Robot property) num_waypoints (figaroh.utils.cubic_spline.CubicSpline attribute)

O

objective() (figaroh.optimal.base_optimal_trajectory.BaseTrajectoryIPOPTProblem method) (figaroh.tools.robotipopt.BaseOptimizationProblem method) (figaroh.tools.robotipopt.TrajectoryOptimizationProblem method) objective_function() (figaroh.optimal.base_optimal_trajectory.BaseOptimalTrajectory method) (figaroh.optimal.BaseOptimalTrajectory method) opt_critD (figaroh.optimal.base_optimal_calibration.Detmax attribute)

opt_set (figaroh.optimal.base_optimal_calibration.Detmax attribute) optimal_configurations (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) optimal_weights (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) output_file (figaroh.tools.robotipopt.IPOPTConfig attribute), [1]

P

parse() (figaroh.utils.config_parser.UnifiedConfigParser method) parse_configuration() (in module figaroh.utils.config_parser) PEE_measured (figaroh.calibration.base_calibration.BaseCalibration attribute) place() (in module figaroh.tools.robotvisualization) plot() (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method) plot_3d_poses() (figaroh.calibration.base_calibration.BaseCalibration method) plot_calibration_results() (figaroh.utils.results_manager.ResultsManager method) (in module figaroh.utils.results_manager) plot_errors_distribution() (figaroh.calibration.base_calibration.BaseCalibration method) plot_identification_results() (figaroh.utils.results_manager.ResultsManager method) (in module figaroh.utils.results_manager) plot_joint_configurations() (figaroh.calibration.base_calibration.BaseCalibration method) plot_optimal_calibration_results() (figaroh.utils.results_manager.ResultsManager method) plot_optimal_trajectory_results() (figaroh.utils.results_manager.ResultsManager method) plot_results() (figaroh.calibration.base_calibration.BaseCalibration method) (figaroh.identification.base_identification.BaseIdentification method) (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.base_optimal_trajectory.BaseOptimalTrajectory method) (figaroh.optimal.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalTrajectory method)

plot_spline() (figaroh.utils.cubic_spline.CubicSpline method) PLOT_STYLES (figaroh.utils.results_manager.ResultsManager attribute) pool (figaroh.optimal.base_optimal_calibration.Detmax attribute) (figaroh.optimal.base_optimal_calibration.SOCPOptimizer attribute) pool_ddq (figaroh.utils.cubic_spline.WaypointsGeneration attribute) pool_dq (figaroh.utils.cubic_spline.WaypointsGeneration attribute) pool_q (figaroh.utils.cubic_spline.WaypointsGeneration attribute) print_collision_pairs() (figaroh.tools.robotcollisions.CollisionManager method) print_level (figaroh.tools.robotipopt.IPOPTConfig attribute), [1] problem (figaroh.optimal.base_optimal_calibration.SOCPOptimizer attribute) (figaroh.tools.robotipopt.RobotIPOPTSolver attribute) process_data() (figaroh.identification.base_identification.BaseIdentification method) process_kinematics_data() (figaroh.identification.base_identification.BaseIdentification method) process_torque_data() (figaroh.identification.base_identification.BaseIdentification method)

Q

q_measured (figaroh.calibration.base_calibration.BaseCalibration attribute)

QR_pivoting() (in module figaroh.tools.qrdecomposition) QRDecomposer (class in figaroh.tools.qrdecomposition)

R

R_rearr (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) read_config_data() (in module figaroh.calibration.calibration_tools) rearrange_rb() (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method) RegressorBuilder (class in figaroh.tools.regressor) RegressorConfig (class in figaroh.tools.regressor) relative_stdev() (in module figaroh.identification.identification_tools) remove_collisions() (figaroh.tools.robotcollisions.CollisionWrapper method) reorder_inertial_parameters() (in module figaroh.identification.identification_tools)

resolved_at (figaroh.utils.config_parser.ConfigMetadata attribute) ResultsManager (class in figaroh.utils.results_manager) rmodel (figaroh.utils.cubic_spline.CubicSpline attribute) Robot (class in figaroh.tools.robot) robot (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) (figaroh.utils.cubic_spline.CubicSpline attribute) RobotInitializationError RobotIPOPTSolver (class in figaroh.tools.robotipopt) RobotVisualizer (class in figaroh.tools.robotvisualization) rotation_matrix_from_vectors() (in module figaroh.tools.robotvisualization)

S

safe_execute() (in module figaroh.utils.error_handling) save_results() (figaroh.calibration.base_calibration.BaseCalibration method) (figaroh.identification.base_identification.BaseIdentification method) (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.base_optimal_trajectory.BaseOptimalTrajectory method) (figaroh.optimal.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalTrajectory method) (figaroh.utils.results_manager.ResultsManager method) (in module figaroh.utils.results_manager) scale_factor (figaroh.tools.robotvisualization.VisualizationConfig attribute) schema_version (figaroh.utils.config_parser.ConfigMetadata attribute) set_constraint_function() (figaroh.tools.robotipopt.TrajectoryOptimizationProblem method) set_objective() (figaroh.optimal.base_optimal_calibration.SOCPOptimizer method) set_objective_function() (figaroh.tools.robotipopt.TrajectoryOptimizationProblem method) setup_collision_pairs() (figaroh.tools.robotcollisions.CollisionManager method) setup_example_logging() (in module figaroh.utils.error_handling) SOCPOptimizer (class in figaroh.optimal.base_optimal_calibration) soft_limit_pool_default (figaroh.utils.cubic_spline.WaypointsGeneration attribute)

solution (figaroh.optimal.base_optimal_calibration.SOCPOptimizer attribute) solve() (figaroh.calibration.base_calibration.BaseCalibration method) (figaroh.identification.base_identification.BaseIdentification method) (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.base_optimal_calibration.SOCPOptimizer method) (figaroh.optimal.base_optimal_trajectory.BaseOptimalTrajectory method) (figaroh.optimal.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalTrajectory method) (figaroh.tools.robotipopt.RobotIPOPTSolver method) solve_history (figaroh.tools.robotipopt.RobotIPOPTSolver attribute) solve_optimisation() (figaroh.calibration.base_calibration.BaseCalibration method) solve_with_waypoints() (figaroh.optimal.base_optimal_trajectory.BaseTrajectoryIPOPTProblem method) source_file (figaroh.utils.config_parser.ConfigMetadata attribute) STATUS (figaroh.calibration.base_calibration.BaseCalibration attribute) std_dev (figaroh.calibration.base_calibration.BaseCalibration attribute) std_pctg (figaroh.calibration.base_calibration.BaseCalibration attribute) sub_info_matrix() (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration method) (figaroh.optimal.BaseOptimalCalibration method)

T

t (figaroh.optimal.base_optimal_calibration.SOCPOptimizer attribute) to_ipopt_options() (figaroh.tools.robotipopt.IPOPTConfig method)

tolerance (figaroh.tools.robotipopt.IPOPTConfig attribute), [1] TrajectoryConstraintManager (class in figaroh.optimal.base_optimal_trajectory) TrajectoryOptimizationProblem (class in figaroh.tools.robotipopt)

U

unified_to_legacy_config() (in module figaroh.calibration.calibration_tools) unified_to_legacy_identif_config() (in module figaroh.identification.identification_tools) UnifiedConfigParser (class in figaroh.utils.config_parser)

update_forward_kinematics() (in module figaroh.calibration.calibration_tools) update_freeflyer_limits() (figaroh.tools.robot.Robot method) update_joint_placement() (in module figaroh.calibration.calibration_tools) update_kinematics() (figaroh.tools.robotvisualization.RobotVisualizer method)

V

validate_configuration() (figaroh.tools.robot.Robot method) validate_input_data() (in module figaroh.utils.error_handling) validate_numeric_range() (in module figaroh.utils.error_handling) validate_problem_setup() (figaroh.tools.robotipopt.RobotIPOPTSolver method) validate_robot_config() (in module figaroh.utils.error_handling) validate_robot_initialization() (in module figaroh.utils.error_handling)

validate_trajectory_data() (in module figaroh.utils.error_handling) ValidationError var_ (figaroh.calibration.base_calibration.BaseCalibration attribute) variant (figaroh.utils.config_parser.ConfigMetadata attribute) VisualizationConfig (class in figaroh.tools.robotvisualization) visualize_collisions() (figaroh.tools.robotcollisions.CollisionManager method)

W

w (figaroh.optimal.base_optimal_calibration.SOCPOptimizer attribute) w_dict_sort (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute) w_list (figaroh.optimal.base_optimal_calibration.BaseOptimalCalibration attribute) (figaroh.optimal.BaseOptimalCalibration attribute)

warm_start (figaroh.tools.robotipopt.IPOPTConfig attribute), [1] WaypointsGeneration (class in figaroh.utils.cubic_spline) weigthed_least_squares() (in module figaroh.identification.identification_tools)

X

xyzquat_to_SE3() (in module figaroh.calibration.calibration_tools)