Index

A

acceleration_max() (mantrap.agents.integrator_single.IntegratorDTAgent property) add_ado() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) (mantrap.environment.sgan.SGAN method) (mantrap.environment.social_forces.SocialForcesEnvironment method) (mantrap.environment.trajectron.Trajectron method)

agent_by_id() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) (mantrap.environment.trajectron.Trajectron method) agent_id_from_node() (mantrap.environment.trajectron.Trajectron static method) AttentionModule (class in mantrap.attention.attention_module)

C

check_distribution() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) check_feasibility_controls() (mantrap.agents.base.discrete.DTAgent method) check_feasibility_trajectory() (mantrap.agents.base.discrete.DTAgent method) ClosestModule (class in mantrap.attention.closest) compute_acceleration() (mantrap.agents.base.discrete.DTAgent static method) compute_constraint() (mantrap.modules.base.optimization_module.OptimizationModule method) compute_distributions() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) compute_distributions_wo_ego() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) compute_gradient_analytically() (mantrap.modules.base.optimization_module.OptimizationModule method) (mantrap.modules.base.pure_constraint.PureConstraintModule method) (mantrap.modules.baselines.goal_weighted.GoalWeightedModule method) (mantrap.modules.goal_norm.GoalNormModule method) compute_gradient_auto_grad() (mantrap.modules.base.optimization_module.OptimizationModule method) compute_jacobian_analytically() (mantrap.modules.base.optimization_module.OptimizationModule method) (mantrap.modules.base.pure_objective.PureObjectiveModule method) (mantrap.modules.control_limits.ControlLimitModule method) (mantrap.modules.hj_reachibility.HJReachabilityModule method)

compute_objective() (mantrap.modules.base.optimization_module.OptimizationModule method) compute_violation() (mantrap.modules.base.optimization_module.OptimizationModule method) compute_violation_internal() (mantrap.modules.base.optimization_module.OptimizationModule method) constraint() (mantrap.modules.base.optimization_module.OptimizationModule method) constraint_boundaries() (mantrap.modules.base.optimization_module.OptimizationModule method) constraints() (mantrap.solver.base.trajopt.TrajOptSolver method) control_limits() (mantrap.agents.base.discrete.DTAgent method) (mantrap.agents.integrator_double.DoubleIntegratorDTAgent method) (mantrap.agents.integrator_single.IntegratorDTAgent method) control_norm() (mantrap.agents.base.discrete.DTAgent method) (mantrap.agents.integrator_double.DoubleIntegratorDTAgent method) (mantrap.agents.integrator_single.IntegratorDTAgent method) ControlLimitModule (class in mantrap.modules.control_limits) copy() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) create_particles() (mantrap.environment.base.particle.ParticleEnvironment method) (mantrap.environment.simplified.potential_field.PotentialFieldEnvironment method) (mantrap.environment.social_forces.SocialForcesEnvironment method)

D

detach() (mantrap.agents.base.discrete.DTAgent method) (mantrap.environment.base.graph_based.GraphBasedEnvironment method) (mantrap.environment.trajectron.Trajectron method) direction() (mantrap.solver.baselines.orca.ORCASolver.LineConstraint property) DoubleIntegratorDTAgent (class in mantrap.agents.integrator_double)

DTAgent (class in mantrap.agents.base.discrete) dx_du() (mantrap.agents.base.discrete.DTAgent method) (mantrap.agents.base.linear.LinearDTAgent method) dynamics() (mantrap.agents.base.discrete.DTAgent method) dynamics_rolling_matrices() (mantrap.agents.base.linear.LinearDTAgent method)

E

encode() (mantrap.solver.base.trajopt.TrajOptSolver method) EuclideanModule (class in mantrap.attention.euclidean) evaluate() (in module mantrap_evaluation.metrics) (mantrap.solver.base.search.SearchIntermediate method)

expand_state_vector() (mantrap.agents.base.discrete.DTAgent static method) expand_trajectory() (mantrap.agents.base.discrete.DTAgent method)

G

GoalNormModule (class in mantrap.modules.goal_norm) GoalWeightedModule (class in mantrap.modules.baselines.goal_weighted) gradient() (mantrap.modules.base.optimization_module.OptimizationModule method) (mantrap.solver.ipopt.IPOPTSolver method) gradient_condition() (mantrap.modules.base.optimization_module.OptimizationModule method) (mantrap.modules.baselines.acc_interact.InteractionAccelerationModule method) (mantrap.modules.control_limits.ControlLimitModule method) (mantrap.modules.goal_norm.GoalNormModule method) (mantrap.modules.hj_reachibility.HJReachabilityModule method) (mantrap.modules.prob_interact.InteractionProbabilityModule method)

GraphBasedEnvironment (class in mantrap.environment.base.graph_based)

H

HJReachabilityModule (class in mantrap.modules.hj_reachibility)

I

IntegratorDTAgent (class in mantrap.agents.integrator_single) InteractionAccelerationModule (class in mantrap.modules.baselines.acc_interact) InteractionPositionModule (class in mantrap.modules.baselines.pos_interact)

InteractionProbabilityModule (class in mantrap.modules.prob_interact) inverse_dynamics() (mantrap.agents.base.discrete.DTAgent method) IPOPTSolver (class in mantrap.solver.ipopt)

J

jacobian() (mantrap.modules.base.optimization_module.OptimizationModule method) (mantrap.solver.ipopt.IPOPTSolver method) jacobian_structure() (mantrap.modules.base.optimization_module.OptimizationModule method) (mantrap.modules.control_limits.ControlLimitModule method) (mantrap.modules.hj_reachibility.HJReachabilityModule method) (mantrap.solver.ipopt.IPOPTSolver method)

K

KalmanEnvironment (class in mantrap.environment.simplified.kalman)

L

LinearDTAgent (class in mantrap.agents.base.linear)

M

make_controls_feasible() (mantrap.agents.base.discrete.DTAgent method) mantrap.agents.base.discrete module mantrap.agents.base.linear module mantrap.agents.integrator_double module mantrap.agents.integrator_single module mantrap.attention.attention_module module mantrap.attention.closest module mantrap.attention.euclidean module mantrap.attention.reachability module mantrap.environment.base.graph_based module mantrap.environment.base.particle module mantrap.environment.sgan module mantrap.environment.simplified.kalman module mantrap.environment.simplified.potential_field module mantrap.environment.social_forces module mantrap.environment.trajectron module mantrap.modules.base.optimization_module module mantrap.modules.base.pure_constraint module mantrap.modules.base.pure_objective module mantrap.modules.baselines.acc_interact module mantrap.modules.baselines.goal_weighted module mantrap.modules.baselines.pos_interact module mantrap.modules.control_limits module mantrap.modules.goal_norm module mantrap.modules.hj_reachibility module mantrap.modules.prob_interact module mantrap.solver.base.logging module mantrap.solver.base.search module mantrap.solver.base.trajopt module mantrap.solver.baselines.mcts module mantrap.solver.baselines.orca module mantrap.solver.baselines.random_search module

mantrap.solver.baselines.rrt_star module mantrap.solver.ipopt module mantrap.visualization.optimization module mantrap.visualization.prediction module mantrap.visualization.trajectories module mantrap_evaluation.metrics module metric_ado_effort() (in module mantrap_evaluation.metrics) metric_directness() (in module mantrap_evaluation.metrics) metric_ego_effort() (in module mantrap_evaluation.metrics) metric_extra_time() (in module mantrap_evaluation.metrics) metric_final_distance() (in module mantrap_evaluation.metrics) metric_minimal_distance() (in module mantrap_evaluation.metrics) module mantrap.agents.base.discrete mantrap.agents.base.linear mantrap.agents.integrator_double mantrap.agents.integrator_single mantrap.attention.attention_module mantrap.attention.closest mantrap.attention.euclidean mantrap.attention.reachability mantrap.environment.base.graph_based mantrap.environment.base.particle mantrap.environment.sgan mantrap.environment.simplified.kalman mantrap.environment.simplified.potential_field mantrap.environment.social_forces mantrap.environment.trajectron mantrap.modules.base.optimization_module mantrap.modules.base.pure_constraint mantrap.modules.base.pure_objective mantrap.modules.baselines.acc_interact mantrap.modules.baselines.goal_weighted mantrap.modules.baselines.pos_interact mantrap.modules.control_limits mantrap.modules.goal_norm mantrap.modules.hj_reachibility mantrap.modules.prob_interact mantrap.solver.base.logging mantrap.solver.base.search mantrap.solver.base.trajopt mantrap.solver.baselines.mcts mantrap.solver.baselines.orca mantrap.solver.baselines.random_search mantrap.solver.baselines.rrt_star mantrap.solver.ipopt mantrap.visualization.optimization mantrap.visualization.prediction mantrap.visualization.trajectories mantrap_evaluation.metrics module_defaults() (mantrap.solver.base.trajopt.TrajOptSolver static method) (mantrap.solver.baselines.orca.ORCASolver static method) module_hard() (mantrap.solver.base.trajopt.TrajOptSolver static method) (mantrap.solver.ipopt.IPOPTSolver static method) MonteCarloTreeSearch (class in mantrap.solver.baselines.mcts)

N

normalize() (mantrap.modules.base.optimization_module.OptimizationModule method) (mantrap.modules.baselines.acc_interact.InteractionAccelerationModule method) (mantrap.modules.control_limits.ControlLimitModule method) (mantrap.modules.goal_norm.GoalNormModule method) (mantrap.modules.hj_reachibility.HJReachabilityModule method) (mantrap.modules.prob_interact.InteractionProbabilityModule method)

O

objective() (mantrap.modules.base.optimization_module.OptimizationModule method) (mantrap.solver.base.trajopt.TrajOptSolver method) OptimizationModule (class in mantrap.modules.base.optimization_module) optimize() (mantrap.solver.base.trajopt.TrajOptSolver method) optimize_core() (mantrap.solver.base.search.SearchIntermediate method) (mantrap.solver.base.trajopt.TrajOptSolver method) (mantrap.solver.baselines.orca.ORCASolver method) (mantrap.solver.baselines.rrt_star.RRTStarSolver method) (mantrap.solver.ipopt.IPOPTSolver method)

ORCASolver (class in mantrap.solver.baselines.orca) ORCASolver.LineConstraint (class in mantrap.solver.baselines.orca)

P

ParticleEnvironment (class in mantrap.environment.base.particle) point() (mantrap.solver.baselines.orca.ORCASolver.LineConstraint property) PotentialFieldEnvironment (class in mantrap.environment.simplified.potential_field) predict_w_controls() (mantrap.environment.base.graph_based.GraphBasedEnvironment method)

predict_w_trajectory() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) predict_wo_ego() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) PureConstraintModule (class in mantrap.modules.base.pure_constraint) PureObjectiveModule (class in mantrap.modules.base.pure_objective)

R

RandomSearch (class in mantrap.solver.baselines.random_search) reachability_boundary() (mantrap.agents.base.discrete.DTAgent method) (mantrap.agents.base.linear.LinearDTAgent method) ReachabilityModule (class in mantrap.attention.reachability)

reset() (mantrap.agents.base.discrete.DTAgent method) roll_trajectory() (mantrap.agents.base.discrete.DTAgent method) (mantrap.agents.base.linear.LinearDTAgent method) RRTStarSolver (class in mantrap.solver.baselines.rrt_star)

S

same_initial_conditions() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) sample_w_controls() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) sample_w_trajectory() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) (mantrap.environment.sgan.SGAN method) sample_wo_ego() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) (mantrap.environment.sgan.SGAN method) sanity_check() (mantrap.agents.base.discrete.DTAgent method) (mantrap.environment.base.graph_based.GraphBasedEnvironment method) SearchIntermediate (class in mantrap.solver.base.search) SGAN (class in mantrap.environment.sgan)

simulate_particle() (mantrap.environment.base.particle.ParticleEnvironment method) (mantrap.environment.simplified.potential_field.PotentialFieldEnvironment method) (mantrap.environment.social_forces.SocialForcesEnvironment method) SocialForcesEnvironment (class in mantrap.environment.social_forces) solve() (mantrap.solver.base.trajopt.TrajOptSolver method) state_relative() (mantrap.modules.hj_reachibility.HJReachabilityModule static method) states() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) step() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) step_reset() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) summarize_distribution() (mantrap.modules.baselines.acc_interact.InteractionAccelerationModule method) (mantrap.modules.baselines.pos_interact.InteractionPositionModule method)

T

Trajectron (class in mantrap.environment.trajectron)

TrajOptSolver (class in mantrap.solver.base.trajopt)

U

unroll_trajectory() (mantrap.agents.base.discrete.DTAgent method) (mantrap.agents.base.linear.LinearDTAgent method)

update() (mantrap.agents.base.discrete.DTAgent method) update_inverse() (mantrap.agents.base.discrete.DTAgent method)

V

visualize_actual() (mantrap.solver.base.trajopt.TrajOptSolver method) visualize_optimization() (in module mantrap.visualization.optimization) visualize_prediction() (in module mantrap.visualization.prediction) (mantrap.environment.base.graph_based.GraphBasedEnvironment method)

visualize_prediction_w_controls() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) visualize_prediction_wo_ego() (mantrap.environment.base.graph_based.GraphBasedEnvironment method) visualize_scenes() (mantrap.solver.base.trajopt.TrajOptSolver method) visualize_step() (mantrap.solver.base.trajopt.TrajOptSolver method)

W

warm_start() (mantrap.solver.base.trajopt.TrajOptSolver method)