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pyhpp.core.path_optimization

LinearConstraint

defDescription
def init(self, arg2: int, arg3: int) -> None
def addRows(self, arg2: int) -> None
def computeRank(self) -> None
def computeSolution(self, arg2: numpy.ndarray) -> None
def concatenate(self, arg2: LinearConstraint) -> None
def decompose(self, arg2: bool, arg3: bool) -> bool
def isSatisfied(self, arg2: numpy.ndarray, arg3: float) -> bool
@staticmethod
def reduceConstraint(*args, **kwargs)
@property
def J(self) -> numpy.ndarray

@J.setter
def J(self, arg2: numpy.ndarray) -> None
@property
def PK(self) -> numpy.ndarray
@property
def b(self) -> numpy.ndarray

@b.setter
def b(self, arg2: numpy.ndarray) -> None
@property
def rank(self) -> int
@property
def xSol(self) -> numpy.ndarray
@property
def xStar(self) -> numpy.ndarray

QuadraticProgram

defDescription
@typing.overload
def init(self, arg2: int) -> None

@typing.overload
def init(self, arg2: QuadraticProgram, arg3: LinearConstraint) -> None
def addRows(self, arg2: int) -> None
def computeLLT(self) -> None
def decompose(self) -> None
def reduced(self, arg2: LinearConstraint, arg3: QuadraticProgram) -> None
@typing.overload
def solve(self) -> None

@typing.overload
def solve(self, arg2: LinearConstraint, arg3: LinearConstraint) -> float
@property
def H(self) -> numpy.ndarray

@H.setter
def H(self, arg2: numpy.ndarray) -> None
@property
def activeConstraint(self) -> numpy.ndarray
@property
def activeSetSize(self) -> int
@property
def b(self) -> numpy.ndarray

@b.setter
def b(self, arg2: numpy.ndarray) -> None
@property
def bIsZero(self) -> bool

@bIsZero.setter
def bIsZero(self, arg2: bool) -> None
@property
def dec(self) -> eigenpy.eigenpy_pywrap.ColPivHhJacobiSVD
@property
def llt(self) -> eigenpy.eigenpy_pywrap.LLT
@property
def trace(self) -> float
@property
def xStar(self) -> numpy.ndarray

Report

defDescription
@typing.overload
def init(self) -> None

@typing.overload
def init(self, arg2: pyhpp.core.bindings.PathValidationReport, arg3: int) -> None
@property
def first(self) -> pyhpp.core.bindings.PathValidationReport

@first.setter
def first(self, arg2: pyhpp.core.bindings.PathValidationReport) -> None
@property
def second(self) -> int

@second.setter
def second(self, arg2: int) -> None

Reports

defDescription
def contains(self, arg2: object) -> bool
def delitem(self, arg2: object) -> None
def getitem(self, arg2: object) -> object
def init(self) -> None
def iter(self) -> object
def len(self) -> int
def setitem(self, arg2: object, arg3: object) -> None
def append(self, arg2: object) -> None
def empty(self) -> bool
def extend(self, arg2: object) -> None
def push_back(self, arg2: Report) -> None
def size(self) -> int

SplineGradientBasedAbstractB1

Inherits: pyhpp.core.bindings.PathOptimizer

defDescription
def init(self, arg2: object) -> None
def addContinuityConstraints(self, arg2: SplineGradientBasedAbstractB1.Splines, arg3: int, arg4: SplineGradientBasedAbstractB1.SplineOptimizationDatas, arg5: LinearConstraint) -> None
def appendEquivalentSpline(self, arg2: pyhpp.core.path.bindings.Vector, arg3: SplineGradientBasedAbstractB1.Splines) -> None
def buildPathVector(self, arg2: SplineGradientBasedAbstractB1.Splines) -> pyhpp.core.path.bindings.Vector
@staticmethod
def copy(arg1: SplineGradientBasedAbstractB1.Splines, arg2: SplineGradientBasedAbstractB1.Splines) -> None
def initializePathValidation(self, arg2: SplineGradientBasedAbstractB1.Splines) -> None
@staticmethod
def interpolate(arg1: SplineGradientBasedAbstractB1.Splines, arg2: SplineGradientBasedAbstractB1.Splines, arg3: float, arg4: SplineGradientBasedAbstractB1.Splines) -> None
def jointBoundConstraint(self, arg2: SplineGradientBasedAbstractB1.Splines, arg3: LinearConstraint) -> None
def updateParameters(self, arg2: numpy.ndarray, arg3: SplineGradientBasedAbstractB1.Splines) -> None
def updateSplines(self, arg2: SplineGradientBasedAbstractB1.Splines, arg3: numpy.ndarray) -> None
def validatePath(self, arg2: SplineGradientBasedAbstractB1.Splines, arg3: pinocchio.pinocchio_pywrap_default.StdVec_Index, arg4: bool, arg5: bool) -> Reports

SplineOptimizationData

defDescription
@typing.overload
def init(self) -> None

@typing.overload
def init(self, arg2: int) -> None
@property
def activeParameters(self) -> object

@activeParameters.setter
def activeParameters(self, arg2: object) -> None
@property
def es(self) -> pyhpp.constraints.bindings.ExplicitConstraintSet

@es.setter
def es(self, arg2: pyhpp.constraints.bindings.ExplicitConstraintSet) -> None
@property
def set(self) -> pyhpp.core.bindings.ConstraintSet

@set.setter
def set(self, arg2: pyhpp.core.bindings.ConstraintSet) -> None

SplineOptimizationDatas

defDescription
def getitem(self, arg2: int) -> SplineGradientBasedAbstractB1.SplineOptimizationData
@typing.overload
def init(self, arg2: int) -> None

@typing.overload
def init(self, arg2: int, arg3: SplineGradientBasedAbstractB1.SplineOptimizationData) -> None
def iter(self) -> object
def len(self) -> int
def setitem(self, arg2: int, arg3: SplineGradientBasedAbstractB1.SplineOptimizationData) -> None
def append(self, arg2: SplineGradientBasedAbstractB1.SplineOptimizationData) -> None

Splines

defDescription
def contains(self, arg2: object) -> bool
def delitem(self, arg2: object) -> None
def getitem(self, arg2: object) -> object
def init(self) -> None
def iter(self) -> object
def len(self) -> int
def setitem(self, arg2: object, arg3: object) -> None
def append(self, arg2: object) -> None
def empty(self) -> bool
def extend(self, arg2: object) -> None
def push_back(self, arg2: pyhpp.core.path.bindings.SplineB1) -> None
def size(self) -> int

SplineGradientBasedAbstractB3

Inherits: pyhpp.core.bindings.PathOptimizer

defDescription
def init(self, arg2: object) -> None
def addContinuityConstraints(self, arg2: SplineGradientBasedAbstractB3.Splines, arg3: int, arg4: SplineGradientBasedAbstractB3.SplineOptimizationDatas, arg5: LinearConstraint) -> None
def appendEquivalentSpline(self, arg2: pyhpp.core.path.bindings.Vector, arg3: SplineGradientBasedAbstractB3.Splines) -> None
def buildPathVector(self, arg2: SplineGradientBasedAbstractB3.Splines) -> pyhpp.core.path.bindings.Vector
@staticmethod
def copy(arg1: SplineGradientBasedAbstractB3.Splines, arg2: SplineGradientBasedAbstractB3.Splines) -> None
def initializePathValidation(self, arg2: SplineGradientBasedAbstractB3.Splines) -> None
@staticmethod
def interpolate(arg1: SplineGradientBasedAbstractB3.Splines, arg2: SplineGradientBasedAbstractB3.Splines, arg3: float, arg4: SplineGradientBasedAbstractB3.Splines) -> None
def jointBoundConstraint(self, arg2: SplineGradientBasedAbstractB3.Splines, arg3: LinearConstraint) -> None
def updateParameters(self, arg2: numpy.ndarray, arg3: SplineGradientBasedAbstractB3.Splines) -> None
def updateSplines(self, arg2: SplineGradientBasedAbstractB3.Splines, arg3: numpy.ndarray) -> None
def validatePath(self, arg2: SplineGradientBasedAbstractB3.Splines, arg3: pinocchio.pinocchio_pywrap_default.StdVec_Index, arg4: bool, arg5: bool) -> Reports

SplineOptimizationData

defDescription
@typing.overload
def init(self) -> None

@typing.overload
def init(self, arg2: int) -> None
@property
def activeParameters(self) -> object

@activeParameters.setter
def activeParameters(self, arg2: object) -> None
@property
def es(self) -> pyhpp.constraints.bindings.ExplicitConstraintSet

@es.setter
def es(self, arg2: pyhpp.constraints.bindings.ExplicitConstraintSet) -> None
@property
def set(self) -> pyhpp.core.bindings.ConstraintSet

@set.setter
def set(self, arg2: pyhpp.core.bindings.ConstraintSet) -> None

SplineOptimizationDatas

defDescription
def getitem(self, arg2: int) -> SplineGradientBasedAbstractB3.SplineOptimizationData
@typing.overload
def init(self, arg2: int) -> None

@typing.overload
def init(self, arg2: int, arg3: SplineGradientBasedAbstractB3.SplineOptimizationData) -> None
def iter(self) -> object
def len(self) -> int
def setitem(self, arg2: int, arg3: SplineGradientBasedAbstractB3.SplineOptimizationData) -> None
def append(self, arg2: SplineGradientBasedAbstractB3.SplineOptimizationData) -> None

Splines

defDescription
def contains(self, arg2: object) -> bool
def delitem(self, arg2: object) -> None
def getitem(self, arg2: object) -> object
def init(self) -> None
def iter(self) -> object
def len(self) -> int
def setitem(self, arg2: object, arg3: object) -> None
def append(self, arg2: object) -> None
def empty(self) -> bool
def extend(self, arg2: object) -> None
def push_back(self, arg2: pyhpp.core.path.bindings.SplineB3) -> None
def size(self) -> int