! Initialize the solve method, i.e. whether to record solver duration or not.

! Load the configuration file. @param filename Filename for the YAML file. @return Dictionary of the configuration.

! Return the parameters as a casadi.SX vector. @return Symbolic parameters.

! Creates the target publisher. @return Instance of the target publisher.

! Solve the optimization problem and return the optimal decision variables as an array. This is an abstract method. @return The solution from

! Solves the optimization problem.

! Creates a subscriber. @param topic_name Name of the topic to subscribe. @param msg_type The message type for the given topic.

! Draw a box. @param scale The length, width, and height for the box [L, W, H]. @param rgb The Red-Green-Blue values in range [0, 1].

! Creates the state listener.

! Draw a cylinder (with main axis along y-axis). @param radius The cylinder radius. @param height The height of the cylinder.

Return duration for the motion plan. When None is returned, this means that the duration is not yet set. @return Duration of the moti

! Compute the analytical Jacobian matrix in the global frame. @param link Name of the end-effector link. @param q Joint position arra

! Get the function that computes the analytical jacobian in the global frame. @param link Name of the end-effector link. @param n Num

! Get the function that computes the angular part of the analytical 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) in the global frame. @param

! Get function for computing the link axis in the global frame. @param link Name of the end-effector link. @param axis The axis (dire

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

! Get the function that computes a rotation matrix in the global link. @param link Name of the end-effector link. @param n Number of

! Get the Roll-Pitch-Yaw angles in the global frame. @param link Name of the end-effector link. @param q Joint position array.

! Get the function that computes the Roll-Pitch-Yaw angles in the global frame.

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

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

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

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

! Get function for computing the link axis. @param link Name of the end-effector link. @param axis The axis (direction vector) define

Get the function that computes the geometric jacobian in a given base frame. @param link Name of the end-effector link. @param base_l

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

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

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

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

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

! Get the function that computes the Roll-Pitch-Yaw angles defined in a given base frame. @param link Name of the end-effector link.

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

! Get the model parameter at a given time. @param name Name of the model. @param t Index of the desired state. @param time_de

! Inverse of a homogeneous transformation matrix. @param T Homogeneous transformation matrix. @return Homogeneous transformation matrix such

! Load .obj file. @param obj_filename The filename for the .obj file. @param png_texture_filename The texture filename. @para

! Publish a target to ROS. @param target The target array.

! Reset basic variables in the manager.

! Set translation for an actor. @param actor A vtk actor object. @param translation The translation in the global frame.

! Setup the optimization solver. This is an abstract method.

! Add collision avoidance constraints, based on spherical representations attached to the robot links and placed in the world. @param name Na

! Start the visualizer.

! Return stats from solver. The return type is specifc to the solver used. This is an abstract method. @return The statistics returned by the