Go to the source code of this file.
Classes | |
| class | cartpole-casadi.CartpoleDynamics |
| class | cartpole-casadi.PinocchioCasadi |
Namespaces | |
| cartpole-casadi | |
Functions | |
| def | cartpole-casadi.integrate_no_control (x0, nsteps) |
| def | cartpole-casadi.make_cartpole (ub=True) |
Variables | |
| cartpole-casadi.a0 = cartpole.acc_func(q0, v, u) | |
| cartpole-casadi.cartpole = CartpoleDynamics(timestep=dt) | |
| float | cartpole-casadi.dt = 0.02 |
| cartpole-casadi.model = cartpole.model | |
| cartpole-casadi.q0 = np.array([0.0, 0.95, 0.01]) | |
| cartpole-casadi.q_trajectory | |
| def | cartpole-casadi.qs_ = states_[: model.nq, :] |
| def | cartpole-casadi.states_ = integrate_no_control(x0, nsteps=400) |
| cartpole-casadi.u = np.zeros(1) | |
| cartpole-casadi.v = np.zeros(model.nv) | |
| cartpole-casadi.viz | |
| cartpole-casadi.x0 = np.append(q0, v) | |
| cartpole-casadi.xnext = cartpole.forward(x0, u) | |