| __init__(self, cfg_file, KinOpt=MomentumKinematicsOptimizer, RobotWrapper=QuadrupedWrapper, with_lqr=True) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| _init_from_settings(self) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | private |
| _plot_show(self, plot_show) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | private |
| contact_plan (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| dyn_optimizer (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| dynamics_feedback (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| dynlqr_setting (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| ini_state (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| kin_optimizer (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| optimize_dynamics(self, kd_iter) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| optimize_dynamics_feedback(self) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| optimize_kinematics(self, kd_iter, plotting=False) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| optimize_motion(self, plot_com_motion=True) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| planner_setting (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| plot_base_trajecory(self, start=0, end=None) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| plot_centroidal(self) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| plot_com_motion(self, dynamics_states, kinematics_states, plot_show=True, fig_suptitle='') (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| plot_foot_traj(self, plot_show=True) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| plot_joint_trajecory(self, start=0, end=None, plot_show=True, fig_suptitle='') (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| replay_kinematics(self, start=0, end=None) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| save_files(self) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| save_qp_files(self) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| terrain_description (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| time_vector(self) (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
| with_lqr (defined in momentumopt.motion_planner.MotionPlanner) | momentumopt.motion_planner.MotionPlanner | |
1.8.11 
