! Get the vector of states and parameters for a given model. Note that method only applies to to RobotModel. To be replaced by get_mo

! Return the velocity limit for a given joint. @param joint The joint instance from the URDF. @return The velocity limit, when undefi

! True if any of the variables in container are discrete, False otherwise. @return Boolean indicating if the SXContainer instance contains di

! Draw a robot. @param robot_model The robot model defining the robot kinematics and visuals. @param q Joint configuration to draw ro

! Draw a robot through a trajectory. @param robot_model The robot model defining the robot kinematics and visuals. @param Q Joint con

! SO(3) rotation about Z axis. @param theta Angle of rotation (radians). @return A 3-by-3 rotation matrix.

! Sets a transform to a vtk Actor. @param actor A vtk actor object. @param position The position of the transformation. @para

! Setup the constraints k(x, p) = M(p).x + c(p) >= 0, and a(x, p) = A(p).x + b(p) == 0. @param lin_ineq_constraints SXContainer containing th

! Specify the vertical constraints vector v. This is only called for optimization problems that have constraints. @param ineq List of CasADi

! Initializer for the Manger class. @param config_filename Filename for a YAML configuration file. When None is passed, it is assumed there i

! The Model base class initializer. @param name The name of the model. @param dim Model dimension (for robots this is ndof).

! Returns true DM(1) if y is a linear function of the decision variables, false DM(0) otherwise. @param y Symbolic function of interest.

! Return the elements that correspond to the model optimized dimensions. @param values The values to extract elements from. @return A

! Get the function which computes the link transform in the global frame. @param link Name of the end-effector link. @param n Number

! Compute the angular part of the analytical Jacobian matrix in a given base frame. @param link Name of the end-effector link. @param

! Get the function that computes the position of a link in a given base frame. @param link Name of the end-effector link. @param base

! Get the link position and orientation for the link visual. @param link The link of interest. @return The position and orientation.

! Return the index of the model in the list of models. @param name Name of the model. @return Index of the model in the list of model

! Get the array of parameters for a given model. @param name Name of the model. @param time_deriv The time-deriviative required (i.e.

@ return rot matrix

! Check if array is within model limits. @param x The array containing values to be checked. @param time_deriv The time-deriviative r

! True DM(1) when cost function is quadratic in the decision variables, False DM(0) otherwise. @return Truth value if the cost function is qu

! Draw a link. @param T Homogeneous transformation matrix. @param axis_scale The axis length. @param axis_linewidth Width of

! Convert rotation matrix to a homogeneous transform. @param R A 3-by-3 rotation matrix. @return Homogenous transformation with given rotatio

! Compute inverse dynamics with RNEA. NOTE, currently this method only supports revolute/continuous joints. The first joint should be

! SO(3) rotation about X axis. @param theta Angle of rotation (radians). @return A 3-by-3 rotation matrix.

! SO(3) rotation about Y axis. @param theta Angle of rotation (radians). @return A 3-by-3 rotation matrix.

! Specify the terms P and q of a quadratic cost function.

! Draw a sphere trajectory. @param position_traj The position trajectory for the spheres. @param radius The radius of the spheres.

! Return the sate optimized name. @param time_deriv The time-deriviative required (i.e. position is 0, velocity is 1, etc.) @return T

! Rotational submatrix. @param Homogenous transformation matrix. @return A 3-by-3 rotation matrix.

! Unitize a vector. @param v A vector of order 3. @return A vector of order 3 with unit magnitude that is parralel to input vector.

! Convert vector with same layout as SXContainer to dict. @param vec Vector assumed to be arranged with same layout as SXContainer instance.

! 4-by-4 identity matrix. @return Identity matrix of order 4.

! Returns the cost function. @return The symbolic cost function.

! Internal method to reset parameters.

! Internal method to reset parameters.

! Add new base frame, note this changes the root link. @param base_link The name for the new root link. @param xyz The position of th

! Convert an orientation input to a rotation matrix. @param orientation Either a quaternion or Euler angles. @param euler_seq When or

! Draw a cylinder (with main axis along the z-axis, i.e. similar to URDF). @param radius The cylinder radius. @param height The heigh

! Returns a list containing discrete classification of each variable. @return List of booleans for each variable, the boolean indicates wheth

! Return the elements that correspond to the model dimensions. @param values The values to extract elements from. @return A sub-array

! Compute the angular part of the analytical Jacobian matrix in the global frame. @param link Name of the end-effector link. @param q

! Compute the angular part of the geometric jacobian in the global frame. @param link Name of the end-effector link. @param q Joint p

! Get the function that computes the angular part of the geometric jacobian in the global frame. @param link Name of the end-effector link.

! Get the function that computes the linear part of the geometric jacobian in the global frame. @param link Name of the end-effector link.

! Compute the link axis, this is a direction vector defined in the end-effector frame (e.g. the x/y/z link axis). @param link Name of the end

! Get the linear part of the geometric jacobian in a given base frame. @param link Name of the end-effector link. @param q Joint posi

! Get the quaternion defined in a given base frame. @param link Name of the end-effector link. @param q Joint position array.

! Get the the Roll-Pitch-Yaw angles defined in a given base frame. @param link Name of the end-effector link. @param q Joint position

! Return the names of each model. @return List of model names.

Random end-effector pose within robot limits. @param link_name Name of the end-effector link. @return Random homogeneous transformati

! Return the target from the solution. For example, the target joint states. This is an abstract method. @return The part of the solution tha

! Reset the optimization problem. This is an abstract method.

! Specify the models in the optimization problem. @param models A list of models (i.e. instance of a sub-class of Model).

! Sets a transformation to a vtk Actor. @param actor A vtk actor object. @param tf A homogenous transformation matrix.

! Setup the constraints g(x, p) >= 0, and h(x, p) == 0. @param ineq_constraints SXContainer containing the inequality constraints. @p

! Draw text. @param msg The text to draw. @param position The position to draw the text in the global frame. @param scale The

! Specify that a given variable is discrete. @param label Name for a specific item that appears in the SXContainer instance.

Helper method that applies the handle to array like arguments.