Index

A

ActionSelection (class in lfd.action_selection) add_after (lfd.environment.simulation_object.RopeSimulationObject attribute) (lfd.environment.simulation_object.SimulationObject attribute) add_cld() (lfd.tpsopt.batchtps.GPUContext method) (lfd.tpsopt.batchtps.SrcContext method) (lfd.tpsopt.batchtps.TgtContext method) add_objects() (lfd.environment.simulation.DynamicSimulation method) (lfd.environment.simulation.StaticSimulation method) add_to_env() (lfd.environment.simulation_object.RopeSimulationObject method) (lfd.environment.simulation_object.SimulationObject method) (lfd.environment.simulation_object.XmlSimulationObject method)

Affine (class in lfd.registration.transformation) (class in lfd.tpsopt.transformations) ALPHA (in module lfd.transfer.settings) arm_moved() (in module lfd.environment.sim_util) AugmentedTrajectory (class in lfd.demonstration.demonstration) AutoTpsSolverFactory (class in lfd.registration.solver)

B

balance_matrix() (in module lfd.tpsopt.registration) balance_matrix3() (in module lfd.registration.tps) balance_matrix3_cpu() (in module lfd.registration.tps) balance_matrix3_gpu() (in module lfd.registration.tps) balance_matrix4() (in module lfd.registration.tps) batch_cost() (lfd.registration.registration.BatchGpuTpsRpmBijRegistrationFactory method) (lfd.registration.registration.BatchGpuTpsRpmRegistrationFactory method) (lfd.registration.registration.RegistrationFactory method) (lfd.registration.registration.TpsSegmentRegistrationFactory method) batch_get_sol_params() (in module lfd.tpsopt.precompute) batch_register() (lfd.registration.registration.BatchGpuTpsRpmBijRegistrationFactory method) (lfd.registration.registration.BatchGpuTpsRpmRegistrationFactory method) (lfd.registration.registration.RegistrationFactory method) (lfd.registration.registration.TpsSegmentRegistrationFactory method) batch_sum() (in module lfd.tpsopt.culinalg_exts) batch_tps_rpm_bij() (in module lfd.tpsopt.batchtps)

BatchGpuTpsRpmBijRegistrationFactory (class in lfd.registration.registration) BatchGpuTpsRpmRegistrationFactory (class in lfd.registration.registration) BEND_COEF_DIGITS (in module lfd.registration.settings) bending_cost() (lfd.tpsopt.batchtps.GPUContext method) BETA_POS (in module lfd.transfer.settings) BETA_ROT (in module lfd.transfer.settings) bidir_tps_cost() (lfd.tpsopt.batchtps.GPUContext method) binarize_gripper() (in module lfd.environment.sim_util) BoxSimulationObject (class in lfd.environment.simulation_object)

C

CAMERA_MATRIX (in module lfd.environment.settings) check_cld() (lfd.tpsopt.batchtps.GPUContext method) check_transform_pts() (in module lfd.tpsopt.batchtps) check_update() (in module lfd.tpsopt.batchtps) close_gripper() (lfd.environment.robot_world.RealRobotWorld method) (lfd.environment.robot_world.RobotWorld method) (lfd.environment.simulation.DynamicRopeSimulationRobotWorld method) (lfd.environment.simulation.DynamicSimulationRobotWorld method) Composition (class in lfd.registration.transformation) (class in lfd.tpsopt.transformations) compute_bending_energy() (lfd.registration.tps_experimental.ThinPlateSplineNormal method) compute_jacobian() (lfd.registration.tps.ThinPlateSpline method) (lfd.registration.tps_experimental.ThinPlateSpline method) (lfd.registration.tps_experimental.ThinPlateSplineNormal method) (lfd.registration.transformation.Affine method) (lfd.registration.transformation.Composition method) (lfd.registration.transformation.Transformation method) (lfd.tpsopt.transformations.Affine method) (lfd.tpsopt.transformations.Composition method) (lfd.tpsopt.transformations.ThinPlateSpline method) (lfd.tpsopt.transformations.Transformation method) compute_N() (lfd.registration.tps_experimental.ThinPlateSpline static method) (lfd.registration.tps_experimental.ThinPlateSplineNormal static method) compute_numerical_jacobian() (lfd.registration.transformation.Transformation method) (lfd.tpsopt.transformations.Transformation method) compute_rotation_reg() (lfd.registration.tps_experimental.ThinPlateSplineNormal method)

compute_sum_var_matrix() (in module lfd.registration.tps_experimental) compute_transform_grad() (lfd.registration.tps_experimental.ThinPlateSpline method) (lfd.registration.tps_experimental.ThinPlateSplineNormal method) cost() (lfd.registration.registration.BatchGpuTpsRpmRegistrationFactory method) (lfd.registration.registration.RegistrationFactory method) (lfd.registration.registration.TpsL2RegistrationFactory method) (lfd.registration.registration.TpsRpmBijRegistrationFactory method) (lfd.registration.registration.TpsRpmRegistrationFactory method) (lfd.registration.registration.TpsSegmentRegistrationFactory method) (lfd.registration.registration.TpsnRpmRegistrationFactory method) COV_COEF (in module lfd.registration.settings) CpuTpsSolver (class in lfd.registration.solver) CpuTpsSolverFactory (class in lfd.registration.solver) create_from_full_traj() (lfd.demonstration.demonstration.AugmentedTrajectory static method) create_from_optimization() (lfd.registration.tps.ThinPlateSpline static method) create_viewer() (lfd.environment.simulation.StaticSimulation method) CylinderSimulationObject (class in lfd.environment.simulation_object)

D

DEBUG (in module lfd.settings) Demonstration (class in lfd.demonstration.demonstration) depth_to_xyz() (in module lfd.tpsopt.clouds) dof_inds_from_name() (in module lfd.environment.sim_util) dot_batch() (in module lfd.tpsopt.culinalg_exts) dot_batch_nocheck() (in module lfd.tpsopt.culinalg_exts) downsample() (in module lfd.tpsopt.clouds)

downsample_cloud() (in module lfd.tpsopt.precompute) draw_axis() (in module lfd.environment.sim_util) draw_finger_pts_traj() (in module lfd.environment.sim_util) draw_grid() (in module lfd.environment.sim_util) DynamicRopeSimulationRobotWorld (class in lfd.environment.simulation) DynamicSimulation (class in lfd.environment.simulation) DynamicSimulationRobotWorld (class in lfd.environment.simulation)

E

EM_ITER (in module lfd.registration.settings) EmptySolver (class in lfd.tpsopt.transformations)

execute_augmented_trajectory() (lfd.environment.environment.LfdEnvironment method) execute_trajectory() (lfd.environment.robot_world.RealRobotWorld method) (lfd.environment.robot_world.RobotWorld method) (lfd.environment.simulation.DynamicSimulationRobotWorld method)

F

FeatureActionSelection (class in lfd.action_selection) FINGER_CLOSE_RATE (in module lfd.transfer.settings)

FingerTrajectoryTransferer (class in lfd.transfer.transfer) fit_ThinPlateSpline() (in module lfd.tpsopt.transformations)

G

GAMMA (in module lfd.transfer.settings) gauss_transform() (in module lfd.registration.tps) (in module lfd.registration.tps_experimental) geam() (in module lfd.tpsopt.culinalg_exts) gemm() (in module lfd.tpsopt.culinalg_exts) get_bending_energy() (lfd.registration.tps_experimental.ThinPlateSpline method) get_binary_gripper_angle() (in module lfd.environment.sim_util) get_bullet_objects() (lfd.environment.simulation_object.RopeSimulationObject method) (lfd.environment.simulation_object.SimulationObject method) get_ee_traj() (in module lfd.environment.sim_util) get_exact_solver() (in module lfd.tpsopt.precompute) get_finger_pts_traj() (in module lfd.environment.sim_util) get_finger_rel_pts() (in module lfd.environment.sim_util) get_full_traj() (in module lfd.environment.sim_util) (lfd.demonstration.demonstration.AugmentedTrajectory method) get_gpu_ptrs() (in module lfd.tpsopt.culinalg_exts) get_objective() (lfd.registration.registration.Registration method) (lfd.registration.registration.TpsRpmBijRegistration method) (lfd.registration.registration.TpsRpmRegistration method) (lfd.registration.registration.TpsnRpmRegistration method) (lfd.registration.tps.ThinPlateSpline method) get_objective2() (lfd.registration.registration.TpsnRpmRegistration static method) (lfd.registration.registration.TpsRpmBijRegistration static method) (lfd.registration.registration.TpsRpmRegistration static method) get_opening_closing_inds() (in module lfd.environment.sim_util) (in module lfd.tpsopt.precompute) get_resampled_traj() (lfd.demonstration.demonstration.AugmentedTrajectory method) get_rope_params() (in module lfd.environment.sim_util) get_rope_transforms() (in module lfd.environment.sim_util) get_sol_params() (in module lfd.tpsopt.precompute) (lfd.tpsopt.batchtps.GPUContext method) get_solver() (lfd.registration.solver.CpuTpsSolverFactory method) (lfd.registration.solver.GpuTpsSolverFactory method) (lfd.registration.solver.TpsSolverFactory method) (lfd.tpsopt.transformations.EmptySolver method) (lfd.tpsopt.transformations.NoGPUEmptySolver method)

get_solver_mats() (lfd.registration.solver.CpuTpsSolverFactory method) (lfd.registration.solver.GpuTpsSolverFactory method) (lfd.registration.solver.TpsSolverFactory method) get_solvers() (lfd.tpsopt.transformations.NoGPUTPSSolver static method) (lfd.tpsopt.transformations.TPSSolver static method) get_state() (lfd.environment.simulation.StaticSimulation method) (lfd.environment.simulation_object.RopeSimulationObject method) (lfd.environment.simulation_object.SimulationObject method) get_stream() (in module lfd.tpsopt.batchtps) get_target_points() (lfd.tpsopt.batchtps.GPUContext method) get_translations() (lfd.environment.simulation.DynamicSimulation method) get_unique_id() (lfd.demonstration.demonstration.SceneState static method) (lfd.environment.sim_util.SceneState static method) get_unscaled_trajs() (lfd.tpsopt.batchtps.SrcContext method) Globals (class in lfd.tpsopt.batchtps) gpu_pad() (in module lfd.tpsopt.batchtps) GPUContext (class in lfd.tpsopt.batchtps) GpuTpsSolver (class in lfd.registration.solver) GpuTpsSolverFactory (class in lfd.registration.solver) gram_mat_cost() (lfd.tpsopt.batchtps.GPUContext method) GreedyActionSelection (class in lfd.action_selection) gripper_joint2gripper_l_finger_joint_values() (in module lfd.environment.sim_util) (in module lfd.tpsopt.precompute) GRIPPER_OPEN_CLOSE_THRESH (in module lfd.environment.settings) grippers_exceed_rope_length() (in module lfd.environment.sim_util) GroundTruthRopeLfdEnvironment (class in lfd.environment.environment) GroundTruthRopeSceneState (class in lfd.demonstration.demonstration)

I

i (lfd.tpsopt.batchtps.Globals attribute) ids (lfd.demonstration.demonstration.SceneState attribute) (lfd.environment.sim_util.SceneState attribute)

in_grasp_region() (lfd.environment.simulation.DynamicRopeSimulationRobotWorld method) initialize_solver() (lfd.tpsopt.transformations.TPSSolver method)

J

joint_fit_tps_follow_finger_pts_traj() (in module lfd.transfer.planning) joint_fit_tps_follow_finger_pts_trajs() (in module lfd.transfer.planning)

JOINT_LENGTH_PER_STEP (in module lfd.transfer.settings)

L

l2_distance() (in module lfd.registration.tps) L2_N_ITER (in module lfd.registration.settings) l2_obj() (in module lfd.registration.tps_experimental) L2_OPT_ITER (in module lfd.registration.settings) L2_RAD (in module lfd.registration.settings) L2_REG (in module lfd.registration.settings) L2_ROT_REG (in module lfd.registration.settings) l2_tps() (in module lfd.registration.tps) l2_tps_obj() (in module lfd.registration.tps) lfd (module) lfd.action_selection (module) lfd.demonstration (module) lfd.demonstration.demonstration (module) lfd.environment (module) lfd.environment.environment (module) lfd.environment.robot_world (module) lfd.environment.settings (module) lfd.environment.sim_util (module) lfd.environment.simulation (module) lfd.environment.simulation_object (module) lfd.registration (module) lfd.registration.plotting_openrave (module) lfd.registration.registration (module) lfd.registration.settings (module)

lfd.registration.solver (module) lfd.registration.tps (module) lfd.registration.tps_experimental (module) lfd.registration.transformation (module) lfd.settings (module) lfd.tpsopt (module) lfd.tpsopt.batchtps (module) lfd.tpsopt.clouds (module) lfd.tpsopt.culinalg_exts (module) lfd.tpsopt.precompute (module) lfd.tpsopt.registration (module) lfd.tpsopt.settings (module) lfd.tpsopt.tps (module) lfd.tpsopt.transformations (module) lfd.transfer (module) lfd.transfer.planning (module) lfd.transfer.registration_transfer (module) lfd.transfer.settings (module) lfd.transfer.transfer (module) LfdEnvironment (class in lfd.environment.environment) lin_ag (lfd.registration.tps.ThinPlateSpline attribute) (lfd.registration.tps_experimental.ThinPlateSpline attribute), [1] (lfd.registration.tps_experimental.ThinPlateSplineNormal attribute), [1] load_fake_data_segment() (in module lfd.environment.sim_util) load_random_start_segment() (in module lfd.environment.sim_util) loglinspace() (in module lfd.registration.tps) (in module lfd.tpsopt.registration)

M

m_dot_batch() (in module lfd.tpsopt.culinalg_exts) main() (in module lfd.tpsopt.precompute) make_box_xml() (in module lfd.environment.sim_util) make_cylinder_xml() (in module lfd.environment.sim_util) make_table_xml() (in module lfd.environment.sim_util)

mapping_cost() (lfd.tpsopt.batchtps.GPUContext method) MAX_CLD_SIZE (in module lfd.registration.settings) merge_full_trajs() (in module lfd.environment.sim_util) mirror_arm_joints() (in module lfd.environment.sim_util) multi_tps_to_params() (in module lfd.registration.tps_experimental)

N

N_ITER (in module lfd.registration.settings) nan2zero() (in module lfd.registration.tps) (in module lfd.tpsopt.tps) NoGPUEmptySolver (class in lfd.tpsopt.transformations)

NoGPUTPSSolver (class in lfd.tpsopt.transformations) NU (in module lfd.registration.settings)

O

observe_cloud() (lfd.environment.robot_world.RealRobotWorld method) (lfd.environment.robot_world.RobotWorld method) (lfd.environment.simulation.DynamicSimulationRobotWorld method) observe_scene() (lfd.environment.environment.GroundTruthRopeLfdEnvironment method) (lfd.environment.environment.LfdEnvironment method) open_gripper() (lfd.environment.robot_world.RealRobotWorld method) (lfd.environment.robot_world.RobotWorld method) (lfd.environment.simulation.DynamicSimulationRobotWorld method) orthogonalize3_cross() (in module lfd.registration.transformation) orthogonalize3_qr() (in module lfd.registration.transformation)

orthogonalize3_svd() (in module lfd.registration.transformation) OUTLIER_CUTOFF (in module lfd.registration.settings) OUTLIER_FRAC (in module lfd.registration.settings) OUTLIER_PRIOR (in module lfd.registration.settings)

P

pairwise_tps_l2_cov() (in module lfd.registration.tps_experimental) pairwise_tps_l2_cov_obj() (in module lfd.registration.tps_experimental) pairwise_tps_l2_obj() (in module lfd.registration.tps_experimental) params_to_multi_tps() (in module lfd.registration.tps_experimental) parse_arguments() (in module lfd.tpsopt.batchtps) (in module lfd.tpsopt.precompute) plan_agenda() (lfd.action_selection.ActionSelection method) (lfd.action_selection.FeatureActionSelection method) (lfd.action_selection.GreedyActionSelection method)

plan_follow_finger_pts_traj() (in module lfd.transfer.planning) plan_follow_finger_pts_trajs() (in module lfd.transfer.planning) plan_follow_traj() (in module lfd.transfer.planning) plan_follow_trajs() (in module lfd.transfer.planning) PoseTrajectoryTransferer (class in lfd.transfer.transfer) prepare_fit_ThinPlateSpline() (in module lfd.registration.tps)

R

RAD (in module lfd.registration.settings) RADN (in module lfd.registration.settings) read_h5() (lfd.tpsopt.batchtps.GPUContext method) (lfd.tpsopt.batchtps.SrcContext method) RealRobotWorld (class in lfd.environment.robot_world) REG (in module lfd.registration.settings) register() (lfd.registration.registration.BatchGpuTpsRpmRegistrationFactory method) (lfd.registration.registration.RegistrationFactory method) (lfd.registration.registration.TpsL2RegistrationFactory method) (lfd.registration.registration.TpsRpmBijRegistrationFactory method) (lfd.registration.registration.TpsRpmRegistrationFactory method) (lfd.registration.registration.TpsSegmentRegistrationFactory method) (lfd.registration.registration.TpsnRpmRegistrationFactory method) Registration (class in lfd.registration.registration) registration_cost() (in module lfd.tpsopt.registration) registration_plot_cb() (in module lfd.registration.plotting_openrave) RegistrationAndTrajectoryTransferer (class in lfd.transfer.registration_transfer) RegistrationFactory (class in lfd.registration.registration) release_rope() (lfd.environment.simulation.DynamicRopeSimulationRobotWorld method) remove_from_env() (lfd.environment.simulation_object.RopeSimulationObject method) (lfd.environment.simulation_object.SimulationObject method) (lfd.environment.simulation_object.XmlSimulationObject method) remove_objects() (lfd.environment.simulation.DynamicSimulation method) (lfd.environment.simulation.StaticSimulation method) remove_tight_rope_pull() (in module lfd.environment.sim_util) replace_rope() (in module lfd.environment.sim_util)

reset_arms_to_side() (in module lfd.environment.sim_util) reset_tps_params() (lfd.tpsopt.batchtps.GPUContext method) reset_warp_err() (lfd.tpsopt.batchtps.GPUContext method) RobotWorld (class in lfd.environment.robot_world) ROPE_ANG_DAMPING (in module lfd.environment.settings) ROPE_ANG_LIMIT (in module lfd.environment.settings) ROPE_ANG_STIFFNESS (in module lfd.environment.settings) ROPE_LIN_DAMPING (in module lfd.environment.settings) ROPE_LIN_STOP_ERP (in module lfd.environment.settings) ROPE_MASS (in module lfd.environment.settings) ROPE_RADIUS (in module lfd.environment.settings) ROPE_RADIUS_THICK (in module lfd.environment.settings) RopeParams (class in lfd.environment.sim_util) RopeSimulationObject (class in lfd.environment.simulation_object) RopeState (class in lfd.environment.sim_util) ROT_REG (in module lfd.registration.settings)

S

SceneState (class in lfd.demonstration.demonstration) (class in lfd.environment.sim_util) set_cld() (lfd.tpsopt.batchtps.TgtContext method) set_gripper_maybesim() (in module lfd.environment.sim_util) set_rope_transforms() (in module lfd.environment.sim_util) set_state() (lfd.environment.simulation.DynamicSimulation method) (lfd.environment.simulation.StaticSimulation method) (lfd.environment.simulation_object.RopeSimulationObject method) (lfd.environment.simulation_object.SimulationObject method) set_ThinPlateSpline() (in module lfd.tpsopt.transformations) set_tps_params() (lfd.tpsopt.batchtps.GPUContext method) settle() (lfd.environment.simulation.DynamicSimulation method) setup_tgt_ctx() (lfd.tpsopt.batchtps.GPUContext method) sim_full_traj_maybesim() (in module lfd.environment.sim_util) sim_traj_maybesim() (in module lfd.environment.sim_util) simulation_state_equal() (lfd.environment.simulation.StaticSimulation static method)

SimulationObject (class in lfd.environment.simulation_object) solve() (lfd.registration.solver.CpuTpsSolver method) (lfd.registration.solver.GpuTpsSolver method) (lfd.registration.solver.TpsSolver method) (lfd.tpsopt.transformations.NoGPUTPSSolver method) (lfd.tpsopt.transformations.TPSSolver method) solve_eqp1() (in module lfd.registration.tps) (in module lfd.tpsopt.tps) solve_qp() (in module lfd.registration.tps_experimental) split_trajectory_by_gripper() (in module lfd.environment.sim_util) split_trajectory_by_lr_gripper() (in module lfd.environment.sim_util) SrcContext (class in lfd.tpsopt.batchtps) StaticSimulation (class in lfd.environment.simulation) step() (lfd.environment.simulation.DynamicSimulation method) streams (lfd.tpsopt.batchtps.Globals attribute) sync (lfd.tpsopt.batchtps.Globals attribute) sync() (in module lfd.tpsopt.batchtps)

T

test_batch_get_sol_params() (in module lfd.tpsopt.precompute) test_batch_tps_rpm_bij() (in module lfd.tpsopt.batchtps) test_bending_cost() (lfd.tpsopt.batchtps.GPUContext method) test_get_targ() (lfd.tpsopt.batchtps.GPUContext method) test_get_unscaled_trajs() (lfd.tpsopt.batchtps.SrcContext method) test_init_corr() (lfd.tpsopt.batchtps.GPUContext method) test_mapping_cost() (lfd.tpsopt.batchtps.GPUContext method) test_norm_corr() (lfd.tpsopt.batchtps.GPUContext method) test_traj_cost() (lfd.tpsopt.batchtps.SrcContext method) test_transform_trajs() (lfd.tpsopt.batchtps.SrcContext method) TgtContext (class in lfd.tpsopt.batchtps) theta_bg (lfd.registration.tps_experimental.ThinPlateSpline attribute) (lfd.registration.tps_experimental.ThinPlateSplineNormal attribute) ThinPlateSpline (class in lfd.registration.tps) (class in lfd.registration.tps_experimental) (class in lfd.tpsopt.transformations) ThinPlateSplineNormal (class in lfd.registration.tps_experimental) tps_apply_kernel() (in module lfd.registration.tps) (in module lfd.tpsopt.tps) tps_cost() (in module lfd.tpsopt.tps) tps_cost_regrot() (in module lfd.tpsopt.tps) tps_cov_obj() (in module lfd.registration.tps_experimental) tps_eval() (in module lfd.registration.tps) (in module lfd.tpsopt.tps) tps_fit() (in module lfd.tpsopt.tps) tps_fit2() (in module lfd.tpsopt.tps) tps_fit3() (in module lfd.registration.tps) (in module lfd.tpsopt.tps) tps_fit_fixedrot() (in module lfd.tpsopt.tps) tps_fit_regrot() (in module lfd.tpsopt.tps) tps_grad() (in module lfd.registration.tps) (in module lfd.tpsopt.tps) tps_kernel_matrix() (in module lfd.registration.tps) (in module lfd.tpsopt.tps) tps_kernel_matrix2() (in module lfd.registration.tps) (in module lfd.tpsopt.tps) tps_l2() (in module lfd.registration.tps_experimental) tps_l2_obj() (in module lfd.registration.tps_experimental) tps_nr_cost_eval() (in module lfd.tpsopt.tps) tps_nr_cost_eval_general() (in module lfd.tpsopt.tps) tps_nr_err() (in module lfd.tpsopt.tps) tps_nr_fit() (in module lfd.tpsopt.tps) tps_nr_fit_enhanced() (in module lfd.tpsopt.tps) tps_nr_grad() (in module lfd.tpsopt.tps)

tps_rpm() (in module lfd.registration.tps) tps_rpm_bij() (in module lfd.registration.tps) (in module lfd.tpsopt.registration) TpsL2Registration (class in lfd.registration.registration) TpsL2RegistrationFactory (class in lfd.registration.registration) tpsn_fit() (in module lfd.registration.tps_experimental) tpsn_kernel_matrix() (in module lfd.registration.tps_experimental) tpsn_kernel_matrix2() (in module lfd.registration.tps_experimental) tpsn_kernel_matrix2_0() (in module lfd.registration.tps_experimental) tpsn_kernel_matrix2_00() (in module lfd.registration.tps_experimental) tpsn_kernel_matrix2_01() (in module lfd.registration.tps_experimental) tpsn_kernel_matrix2_1() (in module lfd.registration.tps_experimental) tpsn_kernel_matrix2_11() (in module lfd.registration.tps_experimental) tpsn_rpm() (in module lfd.registration.tps_experimental) TpsnRpmRegistration (class in lfd.registration.registration) TpsnRpmRegistrationFactory (class in lfd.registration.registration) tpsrpm_plot_cb() (in module lfd.environment.sim_util) TpsRpmBijRegistration (class in lfd.registration.registration) TpsRpmBijRegistrationFactory (class in lfd.registration.registration) TpsRpmRegistration (class in lfd.registration.registration) TpsRpmRegistrationFactory (class in lfd.registration.registration) TpsSegmentRegistrationFactory (class in lfd.registration.registration) TpsSolver (class in lfd.registration.solver) TPSSolver (class in lfd.tpsopt.transformations) TpsSolverFactory (class in lfd.registration.solver) traj_cost() (lfd.tpsopt.batchtps.SrcContext method) TrajectoryTransferer (class in lfd.transfer.transfer) trans_g (lfd.registration.tps.ThinPlateSpline attribute) (lfd.registration.tps_experimental.ThinPlateSpline attribute), [1] (lfd.registration.tps_experimental.ThinPlateSplineNormal attribute), [1] transfer() (lfd.transfer.registration_transfer.RegistrationAndTrajectoryTransferer method) (lfd.transfer.registration_transfer.TwoStepRegistrationAndTrajectoryTransferer method) (lfd.transfer.registration_transfer.UnifiedRegistrationAndTrajectoryTransferer method) (lfd.transfer.transfer.FingerTrajectoryTransferer method) (lfd.transfer.transfer.PoseTrajectoryTransferer method) (lfd.transfer.transfer.TrajectoryTransferer method) transform_bases() (lfd.registration.tps_experimental.ThinPlateSplineNormal method) (lfd.registration.transformation.Transformation method) (lfd.tpsopt.transformations.Transformation method) transform_hmats() (lfd.registration.transformation.Transformation method) (lfd.tpsopt.transformations.Transformation method) transform_points() (lfd.registration.tps.ThinPlateSpline method) (lfd.registration.tps_experimental.ThinPlateSpline method) (lfd.registration.tps_experimental.ThinPlateSplineNormal method) (lfd.registration.transformation.Affine method) (lfd.registration.transformation.Composition method) (lfd.registration.transformation.Transformation method) (lfd.tpsopt.batchtps.GPUContext method) (lfd.tpsopt.transformations.Affine method) (lfd.tpsopt.transformations.Composition method) (lfd.tpsopt.transformations.ThinPlateSpline method) (lfd.tpsopt.transformations.Transformation method) transform_trajs() (lfd.tpsopt.batchtps.SrcContext method) transform_vectors() (lfd.registration.tps_experimental.ThinPlateSplineNormal method) (lfd.registration.transformation.Transformation method) Transformation (class in lfd.registration.transformation) (class in lfd.tpsopt.transformations) TwoStepRegistrationAndTrajectoryTransferer (class in lfd.transfer.registration_transfer)

U

unif_resample() (in module lfd.environment.sim_util) UnifiedRegistrationAndTrajectoryTransferer (class in lfd.transfer.registration_transfer) unit_boxify() (in module lfd.tpsopt.registration) unit_test() (lfd.tpsopt.batchtps.GPUContext method) (lfd.tpsopt.batchtps.SrcContext method) unscale_tps() (in module lfd.tpsopt.registration) unwrap_arm_traj_in_place() (in module lfd.environment.sim_util)

unwrap_in_place() (in module lfd.environment.sim_util) update() (lfd.environment.simulation.DynamicSimulation method) (lfd.registration.tps.ThinPlateSpline method) update_ptrs() (lfd.tpsopt.batchtps.GPUContext method) (lfd.tpsopt.batchtps.SrcContext method) (lfd.tpsopt.batchtps.TgtContext method) update_transform() (lfd.tpsopt.batchtps.GPUContext method) USE_COLLISION_COST (in module lfd.transfer.settings)

V

viewer (lfd.environment.simulation.StaticSimulation attribute)

W

w_eg (lfd.registration.tps_experimental.ThinPlateSplineNormal attribute) w_nd_ptrs (lfd.tpsopt.batchtps.GPUContext attribute)

w_ng (lfd.registration.tps.ThinPlateSpline attribute) (lfd.registration.tps_experimental.ThinPlateSpline attribute), [1] (lfd.registration.tps_experimental.ThinPlateSplineNormal attribute) WINDOW_PROP (in module lfd.environment.settings)

X

x_na (lfd.registration.tps.ThinPlateSpline attribute) (lfd.registration.tps_experimental.ThinPlateSpline attribute) (lfd.registration.tps_experimental.ThinPlateSplineNormal attribute) XmlSimulationObject (class in lfd.environment.simulation_object)

XYZ_to_xy() (in module lfd.tpsopt.clouds) xyZ_to_XY() (in module lfd.tpsopt.clouds)

Z

z_eg (lfd.registration.tps_experimental.ThinPlateSplineNormal attribute)

z_ng (lfd.registration.tps_experimental.ThinPlateSpline attribute)