Path	Lines of Code
noxfile.py	15
setup.cfg	13
setup.py	55
theseus/__init__.py	42
theseus/constants.py	1
theseus/core/__init__.py	4
theseus/core/cost_function.py	128
theseus/core/cost_weight.py	91
theseus/core/objective.py	323
theseus/core/theseus_function.py	102
theseus/core/variable.py	70
theseus/embodied/__init__.py	9
theseus/embodied/collision/__init__.py	3
theseus/embodied/collision/collision.py	57
theseus/embodied/collision/eff_obj_contact.py	96
theseus/embodied/collision/signed_distance_field.py	144
theseus/embodied/kinematics/__init__.py	1
theseus/embodied/kinematics/robot_model.py	26
theseus/embodied/measurements/__init__.py	2
theseus/embodied/measurements/between.py	41
theseus/embodied/measurements/moving_frame_between.py	61
theseus/embodied/misc/__init__.py	1
theseus/embodied/misc/variable_difference.py	39
theseus/embodied/motionmodel/__init__.py	2
theseus/embodied/motionmodel/double_integrator.py	152
theseus/embodied/motionmodel/quasi_static_pushing_planar.py	196
theseus/extlib/cusolver_lu_solver.cpp	275
theseus/extlib/cusolver_sp_defs.cpp	40
theseus/extlib/cusolver_sp_defs.h	14
theseus/extlib/mat_mult.cu	346
theseus/geometry/__init__.py	6
theseus/geometry/lie_group.py	119
theseus/geometry/manifold.py	78
theseus/geometry/point_types.py	56
theseus/geometry/se2.py	213
theseus/geometry/so2.py	161
theseus/geometry/vector.py	132
theseus/optimizer/__init__.py	5
theseus/optimizer/autograd/__init__.py	4
theseus/optimizer/autograd/sparse_autograd.py	60
theseus/optimizer/dense_linearization.py	50
theseus/optimizer/linear/__init__.py	4
theseus/optimizer/linear/dense_solver.py	134
theseus/optimizer/linear/linear_optimizer.py	68
theseus/optimizer/linear/linear_solver.py	20
theseus/optimizer/linear/sparse_solver.py	42
theseus/optimizer/linear_system.py	35
theseus/optimizer/linearization.py	41
theseus/optimizer/nonlinear/__init__.py	9
theseus/optimizer/nonlinear/gauss_newton.py	32
theseus/optimizer/nonlinear/levenberg_marquardt.py	53
theseus/optimizer/nonlinear/nonlinear_least_squares.py	38
theseus/optimizer/nonlinear/nonlinear_optimizer.py	275
theseus/optimizer/optimizer.py	24
theseus/optimizer/sparse_linearization.py	96
theseus/optimizer/variable_ordering.py	44
theseus/theseus_layer.py	72
theseus/utils/__init__.py	2
theseus/utils/sparse_matrix_utils.py	16
theseus/utils/utils.py	69
tutorials/data/motion_planning_2d/meta.yaml	12