! Load .stl file. @param filename The filename for the .stl file. @param scale Scale applied to the mesh file in the xyz directions.

! Align inequality and equality constraints vertically. Given an inequality constraint ineq(x, p) and equality constraint eq(x, p). The method th

! Indicate the violated constraints. @param x The values for the decision variables. @param p The values for the parameters.

! Return dictionary containing layout of container with zero values. @return Dictionary containing only zeros as its values.

! Add two SXContainer's. @param other Another SXContainer instance. @return An SXContainer instance containing elements from both thi

! Step the controller. Reset the problem, solve the problem, and pubslih the target.

! Constructor for the base Solver class. @param optimization The optimization problem created by calling the build method of the Optimization

! Initializer for the QuadraticCostUnconstrained class. @param decision_variables SXContainer containing decision variables. @param p

! Initializer for the QuadraticCostLinearConstraints class. @param decision_variables SXContainer containing decision variables. @par

! Initializer for the QuadraticCostNonlinearConstraints class. @param decision_variables SXContainer containing decision variables. @

! Initializer for the NonlinearCostUnconstrained class. @param decision_variables SXContainer containing decision variables. @param p

! Initializer for the NonlinearCostLinearConstraints class. @param decision_variables SXContainer containing decision variables. @par

! Initializer for the NonlinearCostNonlinearConstraints class. @param decision_variables SXContainer containing decision variables. @

! Initializer for the MixedIntegerNonlinearCostNonlinearConstrained class. @param decision_variables SXContainer containing decision variable

! Initializer for the ROSManger class. @param rosapi For ROS 1, this is rospy (ie. import rospy, and pass the module). For ROS 2, this is the

! Initializer for the ROSController class. @param rosapi For ROS 1, this is rospy (ie. import rospy, and pass the module). For ROS 2, this is

! Initializer for the ROSPlanner class. @param rosapi For ROS 1, this is rospy (ie. import rospy, and pass the module). For ROS 2, this is th

! Task model initializer. @param name The name of the model. @param dim Model dimension. @param time_derivs Time derivatives

! Initializer for the JointTypeNotSupported exception. @param joint_type The joint type given @return An instance of the exception cl

! Initializer for the robot model class. Note, at least one of the parameters urdf_filename, urdf_string, or xacro_filename must be s

! OptimizationBuilder constructor. @param T Number of time steps for the trajectory. @param robots A list of robot models. @p

! Initializer for the Visualizer class. @param window_size The window size [W, H] for the visualizer. @param background_color The col

! Quaternion constructor. @param x x-value of the quaternion. @param y y-value of quaternion. @param z z-value of quaternion.

! Quaternion multiplication. @param quat Another quaternion to multiply. @return Quaternion product.

! Set new SX item. @param label Name for the new item. @param value An array containing symbolic data.

! The subcriber callback. @param msg The message from ROS. @param topic_name the name of the topic the message is from.

! Solve the optimization problem using the CasADi interface. @return Solution to the problem.

! Solve the optimization problem using OSQP. @return The solution of the optimization problem.

! Solve the optimization problem using CVXOPT. @return The solution of the optimization problem.

! Solve the optimization problem using Scipy. @return The solution of the optimization problem.

! Solves the optimization problem and times.

! Property that gives the names of the actuated joints. @return List of actuated joint names.

! Decorator that ensures all input arguments are casadi arrays (i.e. either DM or SX). @param fun Callable function @return Wrapper that ensu

! Clip (limit) the values in an array. @param x Array containing elements to clip. @param lo Minimum value. @param hi Maximum value.

! Close the visualizer.

! Internal method.

! Internal method.

! Convert degrees to radians. @param x An array containing angles in degrees. @return An array containing angles in radians.

! Internal method.

! Internal method.

! True when the solver succeeded, False otherwise. @return Boolean indicating success of solver.

! Returns True when the problem was solved. @return Boolean indicating if the solver converged.