Index

A

A (rigeo.shape.ConvexPolyhedron property) aabb() (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method)

affine_matrix (rigeo.shape.Ellipsoid property) affine_vector (rigeo.shape.Ellipsoid property) As (rigeo.identify.IdentificationProblem attribute)

B

b (rigeo.shape.ConvexPolyhedron property) body_wrench() (rigeo.inertial.InertialParameters method)

bounded() (rigeo.polydd.SpanForm method) Box (class in rigeo.shape) bs (rigeo.identify.IdentificationProblem attribute)

C

can_realize() (rigeo.rigidbody.RigidBody method) (rigeo.shape.Box method) (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method) canonical() (rigeo.polydd.FaceForm method) (rigeo.polydd.SpanForm method) Capsule (class in rigeo.shape) capsule() (rigeo.shape.Cylinder method) center (rigeo.shape.Box attribute) (rigeo.shape.Capsule property) clean_transform() (in module rigeo.util) closest_points() (in module rigeo.closest) ClosestPointInfo (class in rigeo.closest)

compute_evaluation_times() (in module rigeo.util) compute_forward_kinematics() (rigeo.multibody.MultiBody method) compute_frame_jacobian() (rigeo.multibody.MultiBody method) compute_joint_torque_regressor() (rigeo.multibody.MultiBody method) compute_joint_torques() (rigeo.multibody.MultiBody method) consistent() (rigeo.inertial.InertialParameters method) contains() (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method) contains_ellipsoid() (rigeo.shape.Ellipsoid method) contains_polyhedron() (rigeo.shape.Shape method) convex_hull() (in module rigeo.shape) ConvexPolyhedron (class in rigeo.shape) cube() (rigeo.shape.Box class method) Cylinder (class in rigeo.shape)

D

dim (rigeo.polydd.FaceForm property) (rigeo.polydd.SpanForm property) (rigeo.shape.ConvexPolyhedron property) (rigeo.shape.Ellipsoid property)

dist (rigeo.closest.ClosestPointInfo attribute)

E

E (rigeo.shape.Ellipsoid property) Einv (rigeo.shape.Ellipsoid property)

Ellipsoid (class in rigeo.shape) endpoints() (rigeo.shape.Cylinder method) entropic_regularizer() (in module rigeo.identify)

F

FaceForm (class in rigeo.polydd) from_affine() (rigeo.shape.Ellipsoid class method) from_cdd_matrix() (rigeo.polydd.FaceForm class method) (rigeo.polydd.SpanForm class method) from_Einv() (rigeo.shape.Ellipsoid class method) from_halfspaces() (rigeo.shape.ConvexPolyhedron class method) from_pim() (rigeo.inertial.InertialParameters class method) from_point_masses() (rigeo.inertial.InertialParameters class method)

from_points_to_bound() (rigeo.shape.Box class method) from_Q() (rigeo.shape.Ellipsoid class method) from_side_lengths() (rigeo.shape.Box class method) from_two_vertices() (rigeo.shape.Box class method) from_urdf_file() (rigeo.multibody.MultiBody class method) from_urdf_string() (rigeo.multibody.MultiBody class method) from_vec() (rigeo.inertial.InertialParameters class method) from_vertices() (rigeo.shape.ConvexPolyhedron class method) full_length (rigeo.shape.Capsule property)

G

get_bodies() (rigeo.multibody.MultiBody method) get_frame_classical_acceleration() (rigeo.multibody.MultiBody method) get_frame_index() (rigeo.multibody.MultiBody method) get_frame_pose() (rigeo.multibody.MultiBody method)

get_frame_spatial_acceleration() (rigeo.multibody.MultiBody method) get_frame_velocity() (rigeo.multibody.MultiBody method) get_joint_index() (rigeo.multibody.MultiBody method) grid() (rigeo.shape.Box method) (rigeo.shape.Shape method)

H

h (rigeo.inertial.InertialParameters property) H2I() (in module rigeo.inertial)

half_extents (rigeo.shape.Box attribute) Hc (rigeo.inertial.InertialParameters property) hollow_density_params() (rigeo.shape.Ellipsoid method)

I

I (rigeo.inertial.InertialParameters property) I2H() (in module rigeo.inertial) Ic (rigeo.inertial.InertialParameters property) IdentificationProblem (class in rigeo.identify) InertialParameters (class in rigeo.inertial) inner_length (rigeo.shape.Capsule property) intersect() (rigeo.shape.ConvexPolyhedron method) is_cone() (rigeo.polydd.SpanForm method) is_degenerate() (rigeo.shape.Ellipsoid method)

is_infinite() (rigeo.shape.Ellipsoid method) is_realizable() (rigeo.multibody.MultiBody method) (rigeo.rigidbody.RigidBody method) is_same() (rigeo.inertial.InertialParameters method) (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method)

J

J (rigeo.inertial.InertialParameters property)

L

least_squares_objective() (in module rigeo.identify) lift3() (in module rigeo.util)

lift6() (in module rigeo.util) longitudinal_axis (rigeo.shape.Cylinder property) lower() (rigeo.shape.Ellipsoid method)

M

M (rigeo.inertial.InertialParameters property) mbb() (rigeo.shape.Capsule method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) mbe() (rigeo.shape.Box method) (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method) mbe_of_ellipsoids() (in module rigeo.shape) mbe_of_points() (in module rigeo.shape) mbes() (rigeo.rigidbody.RigidBody method) mib() (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) mie() (in module rigeo.shape) (rigeo.shape.Box method) (rigeo.shape.ConvexPolyhedron method) module rigeo.closest rigeo.constraint rigeo.geodesic rigeo.identify rigeo.inertial rigeo.multibody rigeo.polydd rigeo.random rigeo.rigidbody rigeo.shape rigeo.util

MultiBody (class in rigeo.multibody) must_contain() (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method) must_realize() (rigeo.rigidbody.RigidBody method) (rigeo.shape.Box method) (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method)

N

nf (rigeo.polydd.FaceForm property) (rigeo.shape.ConvexPolyhedron property)

nr (rigeo.polydd.SpanForm property) nv (rigeo.polydd.SpanForm property) (rigeo.shape.ConvexPolyhedron property)

P

p1 (rigeo.closest.ClosestPointInfo attribute) p2 (rigeo.closest.ClosestPointInfo attribute) params (rigeo.rigidbody.RigidBody attribute) pim_must_equal_param_var() (in module rigeo.constraint)

pim_must_equal_vec() (in module rigeo.constraint) pim_psd() (in module rigeo.constraint) positive_definite_distance() (in module rigeo.geodesic) problem (rigeo.identify.IdentificationProblem attribute)

Q

Q (rigeo.shape.Ellipsoid property)

R

radius (rigeo.shape.Capsule property) random() (rigeo.inertial.InertialParameters class method) random_points() (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method) random_points_in_ball() (in module rigeo.random) random_points_on_hypersphere() (in module rigeo.random) random_psd_matrix() (in module rigeo.random) random_weight_vectors() (in module rigeo.random) rank (rigeo.shape.Ellipsoid property) rays (rigeo.polydd.SpanForm attribute) regressor() (rigeo.rigidbody.RigidBody static method) rigeo.closest module rigeo.constraint module rigeo.geodesic module

rigeo.identify module rigeo.inertial module rigeo.multibody module rigeo.polydd module rigeo.random module rigeo.rigidbody module rigeo.shape module rigeo.util module RigidBody (class in rigeo.rigidbody) rotate_about_center() (rigeo.shape.Box method) (rigeo.shape.Ellipsoid method) rotation (rigeo.shape.Box attribute) (rigeo.shape.Capsule property)

S

schur() (in module rigeo.constraint) Shape (class in rigeo.shape) shapes (rigeo.rigidbody.RigidBody attribute) side_lengths (rigeo.shape.Box property) skew3() (in module rigeo.util)

skew6() (in module rigeo.util) solve() (rigeo.identify.IdentificationProblem method) solver (rigeo.identify.IdentificationProblem attribute) SpanForm (class in rigeo.polydd) sphere() (rigeo.shape.Ellipsoid class method) stack() (rigeo.polydd.FaceForm method)

T

to_cdd_matrix() (rigeo.polydd.FaceForm method) (rigeo.polydd.SpanForm method) to_face_form() (rigeo.polydd.SpanForm method) to_span_form() (rigeo.polydd.FaceForm method) transform() (rigeo.inertial.InertialParameters method) (rigeo.rigidbody.RigidBody method) (rigeo.shape.Box method) (rigeo.shape.Capsule method) (rigeo.shape.ConvexPolyhedron method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method) (rigeo.shape.Shape method)

transverse_axes (rigeo.shape.Cylinder property)

U

uniform_density_params() (rigeo.shape.Box method) (rigeo.shape.Cylinder method) (rigeo.shape.Ellipsoid method)

V

validation_rmse() (in module rigeo.util) vec (rigeo.inertial.InertialParameters property) vech() (in module rigeo.util) vertex_point_mass_params() (rigeo.shape.ConvexPolyhedron method)

vertices (rigeo.polydd.SpanForm attribute) (rigeo.shape.ConvexPolyhedron property) volume (rigeo.shape.Box property) (rigeo.shape.Cylinder property) (rigeo.shape.Ellipsoid property)

Z

zero() (rigeo.inertial.InertialParameters class method)

Γ

γ (rigeo.identify.IdentificationProblem attribute)

Ε

ε (rigeo.identify.IdentificationProblem attribute)