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

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

! Internal method.

! Evaluates the cost function for given decision variables x and parameters p. @param x The values for the decision variables. @param

! Evaluates each cost term for given decision variables and parameters. @param x The values for the decision variables. @param p The

! Internal method.

! Compute the analytical Jacobian matrix in a given base link. @param link Name of the end-effector link. @param q Joint position arr

! Returns the duration of the solver. @return Duration in secs.

! Get the most current message. @return The message from ROS. None is returned if the message is not yet received.

! Internal method.

! Internal method.

! True when the solver is being run for the first time. @return Boolean indicating if this is the first time the solver is called.

! True when manager is ready to use. This is an abstract method.

! True when messages have been recieved on all topics. @return Boolean indicating if the manager is ready to use.

! Internal method.

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

! Property that gives the list of link names. @return List of link names.

! Decorator that handles the output of Model methods. @param fun A method from a Model sub-class.

! Property that defines the lower actuated joint limits. @return The lower joint position limits.

! Property that defines the lower optimized joint limits. @return The lower joint position limits.

! Number of degrees of freedom. @return The number of degrees of freedom for the robot.

! Number of optimized joints. @return The number of optimized joints.

! Number of parameterized joints. @return The number of parameterized joints.

! Returns the number of iterations required to solve the problem. This is an abstract method. @return Number of iterations.

! Number of iterations it took the solver to converge. @return Number of iterations.

! Number of iterations it took the solver to converge. @return Number of iterations.

! Number of iterations it took the solver to converge. @return Number of iterations.

! Number of iterations it took the solver to converge. @return Number of iterations.

! Optimization type. @return The type of the optimization problem.

! Property that gives the indexes of the optimized joints. @return List of the optimized joint indexes.

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

! Property that gives the indexes of the parameterized joints. @return List of the parameterized joint indexes.

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

! Solve the planning problem. Reset the problem, solve the problem, and interpolate the result. @return The interpolated plan as a fu

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

! Reset the camera pose. @param position The position of the camera. @param view_dir The direction that the camera should view.

! Reset initial seed for the optimization problem. @param x0 The initial seed.

! Reset the parameters. @param p The values for the parameters.

! Reset the parameters. @param p The values for the parameters.

! Reset the parameters. @param p The values for the parameters.

! Save the visualizer window as png image. Note, saving animations is currently not supported.

Set the duration for the motion plan.

! Setup the optimization solver. @param solver_name The name of the solver to be used. @param solver_options Solver options passed to

! Setup solver. @param use_warm_start When true, the initial seed x0 is used as a warm start. Default is True. @param settings Settin

! Setup the cvxopt solver interface. @param solver_settings Settings passed to the CVXOPT solver. @return The instance of the solve (

Setup the Scipy solver. @param method Type of solver. Default is "SLSQP". @param tol Tolerance for termination. When tol is specified

Returns an integration function where m is the state dimension, and n is the number of trajectory points.

! Statistics relating to the previous call to solve. @return Dictionary containing the statistics.

! Statistics for the solution given by OSQP. @return Statistics returned by OSQP. See details at https://osqp.org/.

! Statistics relating to the previous call to solve. @return Dictionary containing the statistics.

! Statistics relating to the previous call to solve. @return Dictionary containing the statistics.