- i -

• IK_config() : PR2_ARM , PR2
• ik_direction() : PR2_ARM
• in_target() : PR2_ARM , Endeffector , Metric
• initialize() : Manipulator_Configuration
• interpolate() : Polynomial , Path_Polynomial , Trajectory_Polynomial
• interpolate_smart() : Polynomial
• interpolated_position() : Polynomial1_Interpolator , Polynomial2_Interpolator , Polynomial3_Interpolator
• is_none() : Orientation_3D , Point_3D