| __init__(self, dir) (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| _smooth_inv(m) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | privatestatic |
| active_contacts (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| base_mass (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| cent_force (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| cent_moments (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| com_ang_vel (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| com_ori (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| com_pos (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| com_vel (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| compute_gains(self) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| compute_Q(self, V_next, Vx_next, Vxx_next, t, x, u) (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| compute_trajectory_from_controls(self, x, u) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| compute_value_function(self, t) (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| contact_plan (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| cost(self, t, x, u) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| cost_derivatives(self, t, x, u) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| cost_dudu(self, t, x, u) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| cost_dxdu(self, t, x, u) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| cost_dxdx(self, t, x, u) (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| diff_x(self, x1, x2) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| dir (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| dt (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| dynamics_derivatives(self, t, x, u) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| eps (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| exp_quaternion(self, w) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| increment_x(self, x, dx) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| inertia_com_frame (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| inertia_com_frame_scaled (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| integrate_angular_velocity(self, w, q, tau) (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| integrate_quaternion(self, q, w) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| integrate_step(self, t, x, u) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| integrate_veocity(self, v, f) (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| kfb (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| kff (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| log_quaternion(self, q) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| m (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| mass (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| N (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| n (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| nx (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| Q (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| Q0 (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| Qdu (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| Qdudu (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| Qdx (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| Qdxdu (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| Qdxdx (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| quaternion_difference(self, q1, q2) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| quaternion_product(self, q1, q2) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| quaternion_to_rotation(self, q) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| R (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| skew(self, v) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| switching_dynamics(self) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| u0 (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| value (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| value_dx (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| value_dxdx (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| weight (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| x0 (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
| xp (defined in momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr) | momentumopt.kinoptpy.lqr_gain_manifold.CentroidalLqr | |
1.8.11 
