API Reference

Generated from the in-source /** */ doc-comments via Doxygen + Breathe. New public functions need a doc-comment and a .. doxygenfile:: entry below.

• Solver kernel
  • PhonyNameDueToError::N
  • grid_num_joints()
  • init_joint_limits_from_grid()
  • sample_joint_config()
  • perturb_joint_config()
  • mat_to_quat()
  • multiply_quat()
  • normalize_quat()
  • quat_conj()
  • quat_mul()
  • quat_err_rotvec()
  • normalize_vec3()
  • compute_ori_err()
  • compute_pos_err()
  • compute_pos_err_at()
  • compute_ori_err_at()
  • solve_pos()
  • solve_ori()
  • upper_index_to_rc()
  • safe_normN()
  • recompute_cost_scaled()
  • try_dogleg_step()
  • try_coord_linesearch()
  • build_ne_and_solve_warp()
  • solve_lm_batched()
  • coarse_search()
  • lm_tuner()
  • gather_rows_kernel()
  • forward_kinematics_kernel()
  • radical_inverse()
  • sample_q_halton_kernel()
  • sample_ik_config_halton()
  • sample_random_target_poses()
  • gather_rows_generic()
  • build_scores_kernel()
  • replicate_rows_kernel()
  • replicate_target7_kernel()
  • perturb_rows_kernel()
  • cast_array()
  • generate_ik_solutions()
  • FLANGE_IDX
  • EE_IDX
  • NX
  • CC_TPB
  • ENV_COLLISION_COST_W
  • CC_HARD_PENALTY
  • ORI_TARGET_RAD
  • ORI_OUTLIER_W
  • CC_SPHERE_MARGIN_MM
  • LMWarpScratch
  • grid
• Collision environment
• Python API