SYMBOL INDEX (260 symbols across 28 files)

FILE: ros_dd_mpc/config/configuration_parameters.py
  class DirectoryConfig (line 17) | class DirectoryConfig:
  class SimpleSimConfig (line 29) | class SimpleSimConfig:
  class ModelFitConfig (line 54) | class ModelFitConfig:
  class GroundEffectMapConfig (line 112) | class GroundEffectMapConfig:

FILE: ros_dd_mpc/nodes/dd_mpc_node.py
  function odometry_parse (line 42) | def odometry_parse(odom_msg):
  function state_parse (line 51) | def state_parse(state_msg):
  function make_raw_optitrack_dict (line 61) | def make_raw_optitrack_dict():
  function make_state_record_dict (line 71) | def make_state_record_dict(state_dim):
  function odometry_skipped_warning (line 81) | def odometry_skipped_warning(last_seq, current_seq, stage):
  class DDMPCWrapper (line 86) | class DDMPCWrapper:
    method __init__ (line 87) | def __init__(self, quad_name, environment="agisim", recording_options=...
    method land_callback (line 327) | def land_callback(self, _):
    method rest_state (line 336) | def rest_state(self):
    method create_command_msg (line 344) | def create_command_msg(self, w_opt, x_opt):
    method run_mpc (line 359) | def run_mpc(self, odom, recording=True):
    method check_out_initial_state (line 410) | def check_out_initial_state(self, odom):
    method reference_callback (line 425) | def reference_callback(self, msg):
    method odometry_callback (line 470) | def odometry_callback(self, msg):
    method raw_odometry_callback (line 554) | def raw_odometry_callback(self, msg):
    method hover_here (line 570) | def hover_here(self, x):
    method set_reference (line 578) | def set_reference(self):
    method plot_tracking_mse_experiment (line 765) | def plot_tracking_mse_experiment(self):
    method save_recording_data (line 781) | def save_recording_data(self):
  function main (line 830) | def main():

FILE: ros_dd_mpc/nodes/reference_publisher_node.py
  class ReferenceGenerator (line 24) | class ReferenceGenerator:
    method __init__ (line 26) | def __init__(self):
    method status_callback (line 215) | def status_callback(self, msg):

FILE: ros_dd_mpc/src/experiments/comparative_experiment.py
  function prepare_quadrotor_mpc (line 35) | def prepare_quadrotor_mpc(simulation_options, version=None, name=None, r...
  function main (line 134) | def main(quad_mpc, av_speed, reference_type=None, plot=False):

FILE: ros_dd_mpc/src/experiments/point_tracking_and_record.py
  function get_record_file_and_dir (line 32) | def get_record_file_and_dir(record_dict_template, recording_options, sim...
  function make_record_dict (line 55) | def make_record_dict(state_dim):
  function check_out_data (line 69) | def check_out_data(rec_dict, state_final, x_pred, w_opt, dt):
  function sample_random_target (line 82) | def sample_random_target(x_current, world_radius, aggressive=True):
  function main (line 110) | def main(model_options, recording_options, simulation_options, parameters):

FILE: ros_dd_mpc/src/experiments/trajectory_test.py
  function main (line 28) | def main(args):

FILE: ros_dd_mpc/src/model_fitting/gp.py
  class CustomKernelFunctions (line 29) | class CustomKernelFunctions:
    method __init__ (line 31) | def __init__(self, kernel_func, params=None):
    method __call__ (line 45) | def __call__(self, x_1, x_2):
    method __str__ (line 48) | def __str__(self):
    method get_trainable_parameters (line 62) | def get_trainable_parameters(self):
    method _check_length_scale (line 72) | def _check_length_scale(x, length_scale):
    method squared_exponential_kernel (line 81) | def squared_exponential_kernel(self, x_1, x_2=None):
    method _squared_exponential_kernel_cs (line 117) | def _squared_exponential_kernel_cs(self, x_1, x_2):
    method diff (line 140) | def diff(self, z, z_train):
  class CustomGPRegression (line 168) | class CustomGPRegression:
    method __init__ (line 170) | def __init__(self, x_features, u_features, reg_dim, mean=None, y_mean=...
    method kernel (line 226) | def kernel(self):
    method kernel (line 230) | def kernel(self, ker):
    method K (line 234) | def K(self):
    method K (line 238) | def K(self, k):
    method K_inv (line 243) | def K_inv(self):
    method K_inv (line 247) | def K_inv(self, k):
    method K_inv_y (line 252) | def K_inv_y(self):
    method K_inv_y (line 256) | def K_inv_y(self, k):
    method x_train (line 261) | def x_train(self):
    method x_train (line 265) | def x_train(self, k):
    method y_train (line 270) | def y_train(self):
    method y_train (line 274) | def y_train(self, k):
    method log_marginal_likelihood (line 278) | def log_marginal_likelihood(self, theta):
    method _nll (line 292) | def _nll(self, x_train, y_train):
    method _constrained_minimization (line 318) | def _constrained_minimization(self, x_train, y_train, x_0, bounds):
    method fit (line 325) | def fit(self, x_train, y_train):
    method compute_gp_jac (line 371) | def compute_gp_jac(self):
    method eval_gp_jac (line 375) | def eval_gp_jac(self, z):
    method _linearized_state_estimate (line 382) | def _linearized_state_estimate(self):
    method predict (line 403) | def predict(self, x_test, return_std=False, return_cov=False):
    method _predict_sym (line 446) | def _predict_sym(self, x_test, return_std=False, return_cov=False):
    method sample_y (line 473) | def sample_y(self, x_test, n_samples=3):
    method save (line 489) | def save(self, path):
    method load (line 518) | def load(self, data_dict):
  class GPEnsemble (line 536) | class GPEnsemble:
    method __init__ (line 537) | def __init__(self):
    method n_models (line 566) | def n_models(self):
    method B_z (line 572) | def B_z(self):
    method add_model (line 575) | def add_model(self, gp):
    method get_z (line 609) | def get_z(self, x, u, dim):
    method predict (line 632) | def predict(self, x_test, u_test, return_std=False, return_cov=False, ...
    method select_gp (line 738) | def select_gp(self, dim, x=None, u=None, z=None):
    method homogeneous_feature_space (line 772) | def homogeneous_feature_space(self):

FILE: ros_dd_mpc/src/model_fitting/gp_common.py
  class GPDataset (line 29) | class GPDataset:
    method __init__ (line 30) | def __init__(self, raw_ds=None,
    method load_data (line 68) | def load_data(self, ds):
    method prune (line 108) | def prune(self):
    method get_x (line 121) | def get_x(self, cluster=None, pruned=True, raw=False):
    method x (line 144) | def x(self):
    method get_x_out (line 147) | def get_x_out(self, cluster=None, pruned=True):
    method x_out (line 161) | def x_out(self):
    method get_u (line 164) | def get_u(self, cluster=None, pruned=True, raw=False):
    method u (line 182) | def u(self):
    method get_y (line 185) | def get_y(self, cluster=None, pruned=True, raw=False):
    method y (line 203) | def y(self):
    method get_x_pred (line 206) | def get_x_pred(self, pruned=True, raw=False):
    method x_pred (line 220) | def x_pred(self):
    method get_dt (line 223) | def get_dt(self, pruned=True):
    method dt (line 228) | def dt(self):
    method cluster (line 231) | def cluster(self, n_clusters, load_clusters=False, save_dir="", visual...
  function restore_gp_regressors (line 281) | def restore_gp_regressors(pre_trained_models):
  function read_dataset (line 318) | def read_dataset(name, train_split, sim_options):
  function world_to_body_velocity_mapping (line 341) | def world_to_body_velocity_mapping(state_sequence):

FILE: ros_dd_mpc/src/model_fitting/gp_fitting.py
  function plot_gp_regression (line 34) | def plot_gp_regression(x_test, y_test, x_train, y_train, gp_mean, gp_std...
  function gp_train_and_save (line 88) | def gp_train_and_save(x, y, gp_regressors, save_model, save_file, save_p...
  function main (line 127) | def main(x_features, u_features, reg_y_dim, quad_sim_options, dataset_name,
  function gp_evaluate_test_set (line 314) | def gp_evaluate_test_set(gp_regressors, gp_dataset, pruned=False, timed=...

FILE: ros_dd_mpc/src/model_fitting/gp_visualization.py
  function gp_visualization_experiment (line 23) | def gp_visualization_experiment(quad_sim_options, dataset_name,

FILE: ros_dd_mpc/src/model_fitting/mlp_common.py
  class GPToMLPDataset (line 9) | class GPToMLPDataset(Dataset):
    method __init__ (line 10) | def __init__(self, gp_dataset, ground_effect=False):
    method stats (line 28) | def stats(self):
    method __len__ (line 36) | def __len__(self):
    method __getitem__ (line 39) | def __getitem__(self, item):
  class NormalizedMLP (line 58) | class NormalizedMLP(mc.TorchMLCasadiModule):
    method __init__ (line 59) | def __init__(self, model, x_mean, x_std, y_mean, y_std):
    method forward (line 69) | def forward(self, x):
    method cs_forward (line 72) | def cs_forward(self, x):
  class QuadResidualModel (line 76) | class QuadResidualModel(mc.TorchMLCasadiModule):
    method __init__ (line 77) | def __init__(self, hidden_size, hidden_layers):
    method forward (line 84) | def forward(self, x):
    method cs_forward (line 95) | def cs_forward(self, x):

FILE: ros_dd_mpc/src/model_fitting/mlp_fitting.py
  function main (line 35) | def main(x_features, u_features, reg_y_dims, model_ground_effect, quad_s...

FILE: ros_dd_mpc/src/model_fitting/mlp_quad_res_fitting.py
  function main (line 35) | def main(x_features, u_features, reg_y_dims, quad_sim_options, dataset_n...

FILE: ros_dd_mpc/src/model_fitting/process_neurobem_dataset.py
  function main (line 19) | def main(quad):
  function quaternion_to_euler (line 83) | def quaternion_to_euler(q):
  function val (line 92) | def val(quad):
  function process_file (line 123) | def process_file(file_path, quad, rec_dict):
  function consecutive_data_points (line 129) | def consecutive_data_points(data):
  function f_rate (line 220) | def f_rate(x, u, quad):
  function resimulate (line 236) | def resimulate(x_0, x_f, u, dt, quad_mpc, rec_dict):

FILE: ros_dd_mpc/src/model_fitting/rdrv_fitting.py
  function linear_rdrv_fitting (line 27) | def linear_rdrv_fitting(x, y, feat_idx):
  function load_rdrv (line 36) | def load_rdrv(model_options):
  function main (line 42) | def main(model_name, features, quad_sim_options, dataset_name,

FILE: ros_dd_mpc/src/model_fitting/system_identification.py
  function odometry_parse (line 16) | def odometry_parse(odom_msg):
  function thrust_motor_model (line 26) | def thrust_motor_model(motor_tau, thrust, thrust_des, dt):
  function system_identification (line 38) | def system_identification(quad_mpc, ds_name, sim_options):

FILE: ros_dd_mpc/src/quad_mpc/create_ros_dd_mpc.py
  function custom_quad_param_loader (line 21) | def custom_quad_param_loader(quad_name):
  class ROSDDMPC (line 70) | class ROSDDMPC:
    method __init__ (line 71) | def __init__(self, t_horizon, n_mpc_nodes, opt_dt, quad_name, point_re...
    method set_state (line 105) | def set_state(self, x):
    method set_gp_state (line 113) | def set_gp_state(self, x):
    method set_reference (line 124) | def set_reference(self, x_ref, u_ref):
    method optimize (line 134) | def optimize(self, model_data):

FILE: ros_dd_mpc/src/quad_mpc/quad_3d.py
  class Quadrotor3D (line 20) | class Quadrotor3D:
    method __init__ (line 22) | def __init__(self, noisy=False, drag=False, payload=False, motor_noise...
    method set_state (line 104) | def set_state(self, *args, **kwargs):
    method set_gp_state (line 119) | def set_gp_state(self, *args, **kwargs):
    method get_state (line 141) | def get_state(self, quaternion=False, stacked=False):
    method get_gp_state (line 155) | def get_gp_state(self, quaternion=False, stacked=False):
    method get_control (line 176) | def get_control(self, noisy=False):
    method update (line 182) | def update(self, u, dt):
    method f_pos (line 229) | def f_pos(self, x):
    method f_att (line 239) | def f_att(self, x):
    method f_vel (line 251) | def f_vel(self, x, u, f_d):
    method f_rate (line 280) | def f_rate(self, x, u, t_d):

FILE: ros_dd_mpc/src/quad_mpc/quad_3d_mpc.py
  class Quad3DMPC (line 24) | class Quad3DMPC:
    method __init__ (line 25) | def __init__(self, my_quad, t_horizon=1.0, n_nodes=5, q_cost=None, r_c...
    method clear (line 95) | def clear(self):
    method get_state (line 98) | def get_state(self):
    method set_reference (line 107) | def set_reference(self, x_reference, u_reference=None):
    method optimize (line 123) | def optimize(self, use_model=0, return_x=False):
    method simulate (line 142) | def simulate(self, ref_u):
    method simulate_plant (line 152) | def simulate_plant(self, w_opt, t_horizon=None, dt_vec=None, progress_...
    method forward_prop (line 172) | def forward_prop(self, x_0, w_opt, cov_0=None, t_horizon=None, dt=None...
    method reshape_input_sequence (line 213) | def reshape_input_sequence(u_seq):
    method reset (line 226) | def reset(self):

FILE: ros_dd_mpc/src/quad_mpc/quad_3d_optimizer.py
  class Quad3DOptimizer (line 33) | class Quad3DOptimizer:
    method __init__ (line 34) | def __init__(self, quad, t_horizon=1, n_nodes=20,
    method clear_acados_model (line 228) | def clear_acados_model(self):
    method add_missing_states (line 240) | def add_missing_states(self, gp_outs):
    method remove_extra_states (line 263) | def remove_extra_states(self, vec):
    method acados_setup_model (line 276) | def acados_setup_model(self, nominal, model_name):
    method quad_dynamics (line 435) | def quad_dynamics(self, rdrv_d):
    method p_dynamics (line 452) | def p_dynamics(self):
    method q_dynamics (line 455) | def q_dynamics(self):
    method v_dynamics (line 458) | def v_dynamics(self, rdrv_d):
    method w_dynamics (line 478) | def w_dynamics(self):
    method linearized_quad_dynamics (line 489) | def linearized_quad_dynamics(self):
    method set_reference_state (line 523) | def set_reference_state(self, x_target=None, u_target=None):
    method set_reference_trajectory (line 559) | def set_reference_trajectory(self, x_target, u_target):
    method discretize_f_and_q (line 601) | def discretize_f_and_q(self, t_horizon, n, m=1, i=0, use_gp=True, use_...
    method run_optimization (line 620) | def run_optimization(self, initial_state=None, use_model=0, return_x=F...

FILE: ros_dd_mpc/src/utils/animator.py
  class Dynamic3DTrajectory (line 21) | class Dynamic3DTrajectory:
    method __init__ (line 22) | def __init__(self, pos_data, vel_data, pos_ref, vel_ref, t_vec_ref, le...
    method on_launch (line 93) | def on_launch(self):
    method on_init (line 200) | def on_init(self):
    method animate (line 219) | def animate(self, i):
    method __call__ (line 261) | def __call__(self, save=False):

FILE: ros_dd_mpc/src/utils/ground_map.py
  class GroundMap (line 4) | class GroundMap:
    method __init__ (line 5) | def __init__(self, horizon=((-1, 1), (-1, 1)), resolution=0.1):
    method at (line 11) | def at(self, center: np.array):
    method draw (line 16) | def draw(self, pos, map):
    method empty_map (line 20) | def empty_map(self):
  class GroundMapWithBox (line 27) | class GroundMapWithBox(GroundMap):
    method __init__ (line 28) | def __init__(self, box_min, box_max, height, *args, **kwargs):
    method draw (line 34) | def draw(self, pos, map):

FILE: ros_dd_mpc/src/utils/keyframe_3d_gen.py
  function apply_map_limits (line 22) | def apply_map_limits(x, y, z, limits):
  function center_and_scale (line 47) | def center_and_scale(x, y, z, x_max, x_min, y_max, y_min, z_max, z_min):
  function random_periodical_trajectory (line 61) | def random_periodical_trajectory(plot=False, random_state=None, map_limi...

FILE: ros_dd_mpc/src/utils/quad_3d_opt_utils.py
  function discretize_dynamics_and_cost (line 20) | def discretize_dynamics_and_cost(t_horizon, n_points, m_steps_per_point,...
  function _forward_prop_core (line 61) | def _forward_prop_core(x_0, u_seq, t_horizon, discrete_dynamics_f, dynam...
  function uncertainty_forward_propagation (line 145) | def uncertainty_forward_propagation(x_0, u_seq, t_horizon, discrete_dyna...
  function gp_prediction_jac (line 165) | def gp_prediction_jac(z, Bx, Bz, gp_ensemble, gp_idx):
  function simulate_plant (line 204) | def simulate_plant(quad, w_opt, simulation_dt, simulate_func, t_horizon=...
  function get_reference_chunk (line 267) | def get_reference_chunk(reference_traj, reference_u, current_idx, n_mpc_...

FILE: ros_dd_mpc/src/utils/trajectories.py
  function check_trajectory (line 28) | def check_trajectory(trajectory, inputs, tvec, plot=False):
  function minimum_snap_trajectory_generator (line 126) | def minimum_snap_trajectory_generator(traj_derivatives, yaw_derivatives,...
  function load_map_limits_from_file (line 284) | def load_map_limits_from_file(map_limits):
  function straight_trajectory (line 307) | def straight_trajectory(quad, discretization_dt, speed):
  function flyover_trajectory_collect (line 324) | def flyover_trajectory_collect(quad, discretization_dt, seed, speed, fly...
  function flyover_trajectory (line 381) | def flyover_trajectory(quad, discretization_dt, seed, speed, flyover_box...
  function random_trajectory (line 436) | def random_trajectory(quad, discretization_dt, seed, speed, map_name=Non...
  function loop_trajectory (line 469) | def loop_trajectory(quad, discretization_dt, radius, z, lin_acc, clockwi...
  function lemniscate_trajectory (line 579) | def lemniscate_trajectory(quad, discretization_dt, radius, z, lin_acc, c...

FILE: ros_dd_mpc/src/utils/trajectory_generator.py
  function draw_poly (line 5) | def draw_poly(traj, u_traj, t, target_points=None, target_t=None):
  function get_full_traj (line 91) | def get_full_traj(poly_coeffs, target_dt, int_dt):
  function fit_multi_segment_polynomial_trajectory (line 147) | def fit_multi_segment_polynomial_trajectory(p_targets, yaw_targets):
  function matrix_generation (line 163) | def matrix_generation(ts):
  function multiple_waypoints (line 176) | def multiple_waypoints(n_segments):
  function fit_single_segment (line 216) | def fit_single_segment(p_start, p_end, v_start=None, v_end=None, a_start...
  function rhs_generation (line 255) | def rhs_generation(x):

FILE: ros_dd_mpc/src/utils/utils.py
  function safe_mkdir_recursive (line 34) | def safe_mkdir_recursive(directory, overwrite=False):
  function safe_mknode_recursive (line 51) | def safe_mknode_recursive(destiny_dir, node_name, overwrite):
  function jsonify (line 62) | def jsonify(array):
  function undo_jsonify (line 70) | def undo_jsonify(array):
  function get_data_dir_and_file (line 79) | def get_data_dir_and_file(ds_name, training_split, params, read_only=Fal...
  function get_model_dir_and_file (line 176) | def get_model_dir_and_file(model_options):
  function load_pickled_models (line 192) | def load_pickled_models(directory='', file_name='', model_options=None):
  function interpol_mse (line 253) | def interpol_mse(t_1, x_1, t_2, x_2, n_interp_samples=1000):
  function euclidean_dist (line 277) | def euclidean_dist(x, y, thresh=None):
  function euler_to_quaternion (line 299) | def euler_to_quaternion(roll, pitch, yaw):
  function quaternion_to_euler (line 308) | def quaternion_to_euler(q):
  function unit_quat (line 314) | def unit_quat(q):
  function v_dot_q (line 330) | def v_dot_q(v, q):
  function q_to_rot_mat (line 338) | def q_to_rot_mat(q):
  function q_dot_q (line 356) | def q_dot_q(q, r):
  function rotation_matrix_to_quat (line 380) | def rotation_matrix_to_quat(rot):
  function undo_quaternion_flip (line 392) | def undo_quaternion_flip(q_past, q_current):
  function skew_symmetric (line 407) | def skew_symmetric(v):
  function decompose_quaternion (line 428) | def decompose_quaternion(q):
  function quaternion_inverse (line 447) | def quaternion_inverse(q):
  function rotation_matrix_to_euler (line 456) | def rotation_matrix_to_euler(r_mat):
  function prune_dataset (line 473) | def prune_dataset(x, y, x_cap, bins, thresh, plot, labels=None):
  function distance_maximizing_points_1d (line 551) | def distance_maximizing_points_1d(points, n_train_points, dense_gp=None):
  function distance_maximizing_points_2d (line 599) | def distance_maximizing_points_2d(points, n_train_points, dense_gp, plot...
  function distance_maximizing_points (line 636) | def distance_maximizing_points(x_values, center, n_train_points=7, dense...
  function sample_random_points (line 734) | def sample_random_points(points, used_idx, points_to_sample, dense_gp=No...
  function parse_xacro_file (line 761) | def parse_xacro_file(xacro):
  function make_bx_matrix (line 788) | def make_bx_matrix(x_dims, y_feats):
  function make_bz_matrix (line 804) | def make_bz_matrix(x_dims, u_dims, x_feats, u_feats):
  function quaternion_state_mse (line 826) | def quaternion_state_mse(x, x_ref, mask):
  function separate_variables (line 843) | def separate_variables(traj):

FILE: ros_dd_mpc/src/utils/visualization.py
  function angle_to_rot_mat (line 31) | def angle_to_rot_mat(angle):
  function draw_arrow (line 43) | def draw_arrow(x_base, y_base, x_body, y_body):
  function draw_drone (line 65) | def draw_drone(pos, q_rot, x_f, y_f):
  function draw_covariance_ellipsoid (line 85) | def draw_covariance_ellipsoid(center, covar):
  function visualize_data_distribution (line 112) | def visualize_data_distribution(x_data, y_data, clusters, x_pruned, y_pr...
  function visualize_gp_inference (line 158) | def visualize_gp_inference(x_data, u_data, y_data, gp_ensemble, vis_feat...
  function initialize_drone_plotter (line 303) | def initialize_drone_plotter(world_rad, quad_rad, n_props, full_traj=None):
  function draw_drone_simulation (line 354) | def draw_drone_simulation(art_pack, x_trajectory, quad, targets, targets...
  function trajectory_tracking_results (line 460) | def trajectory_tracking_results(t_ref, x_ref, x_executed, u_ref, u_execu...
  function mse_tracking_experiment_plot (line 549) | def mse_tracking_experiment_plot(v_max, mse, traj_type_vec, train_sample...
  function load_past_experiments (line 628) | def load_past_experiments():
  function get_experiment_files (line 645) | def get_experiment_files():