cartpole-casadi.PinocchioCasadi Class Reference

Inheritance diagram for cartpole-casadi.PinocchioCasadi:

Public Member Functions
def	__init__ (self, pin.Model model, timestep=0.05)
def	create_discrete_dynamics (self)
def	create_discrete_dynamics_state (self)
def	create_dynamics (self)
def	forward (self, x, u)
def	residual_fwd (self, x, u, xnext)

Public Attributes
	acc
	acc_func
	cdata
	cmodel
	dq_
	dyn_jac_expr
	dyn_jac_fn
	dyn_qv_fn_
	dyn_residual
	model
	q_dq
	q_node
	timestep
	u_node
	v_node
	x_node

Detailed Description

Take a Pinocchio model, turn it into a Casadi model
and define the appropriate graphs.

Definition at line 57 of file cartpole-casadi.py.

Constructor & Destructor Documentation

__init__()

def cartpole-casadi.PinocchioCasadi.__init__	(		self,
		pin.Model	model,
			timestep = 0.05
	)

Definition at line 62 of file cartpole-casadi.py.

Member Function Documentation

create_discrete_dynamics()

def cartpole-casadi.PinocchioCasadi.create_discrete_dynamics

(

self

)

Create the map `(q,v) -> (qnext, vnext)` using semi-implicit Euler integration.

Definition at line 90 of file cartpole-casadi.py.

create_discrete_dynamics_state()

def cartpole-casadi.PinocchioCasadi.create_discrete_dynamics_state

(

self

)

Definition at line 125 of file cartpole-casadi.py.

create_dynamics()

def cartpole-casadi.PinocchioCasadi.create_dynamics

(

self

)

Create the acceleration expression and acceleration function.

Definition at line 70 of file cartpole-casadi.py.

forward()

def cartpole-casadi.PinocchioCasadi.forward	(		self,
			x,
			u
	)

Definition at line 160 of file cartpole-casadi.py.

residual_fwd()

def cartpole-casadi.PinocchioCasadi.residual_fwd	(		self,
			x,
			u,
			xnext
	)

Definition at line 170 of file cartpole-casadi.py.

Member Data Documentation

acc

cartpole-casadi.PinocchioCasadi.acc

Definition at line 87 of file cartpole-casadi.py.

acc_func

cartpole-casadi.PinocchioCasadi.acc_func

Definition at line 88 of file cartpole-casadi.py.

cdata

cartpole-casadi.PinocchioCasadi.cdata

Definition at line 65 of file cartpole-casadi.py.

cmodel

cartpole-casadi.PinocchioCasadi.cmodel

Definition at line 64 of file cartpole-casadi.py.

dq_

cartpole-casadi.PinocchioCasadi.dq_

Definition at line 82 of file cartpole-casadi.py.

dyn_jac_expr

cartpole-casadi.PinocchioCasadi.dyn_jac_expr

Definition at line 116 of file cartpole-casadi.py.

dyn_jac_fn

cartpole-casadi.PinocchioCasadi.dyn_jac_fn

Definition at line 121 of file cartpole-casadi.py.

dyn_qv_fn_

cartpole-casadi.PinocchioCasadi.dyn_qv_fn_

Definition at line 108 of file cartpole-casadi.py.

dyn_residual

cartpole-casadi.PinocchioCasadi.dyn_residual

Definition at line 152 of file cartpole-casadi.py.

model

cartpole-casadi.PinocchioCasadi.model

Definition at line 63 of file cartpole-casadi.py.

q_dq

cartpole-casadi.PinocchioCasadi.q_dq

Definition at line 100 of file cartpole-casadi.py.

q_node

cartpole-casadi.PinocchioCasadi.q_node

Definition at line 80 of file cartpole-casadi.py.

timestep

cartpole-casadi.PinocchioCasadi.timestep

Definition at line 66 of file cartpole-casadi.py.

u_node

cartpole-casadi.PinocchioCasadi.u_node

Definition at line 79 of file cartpole-casadi.py.

v_node

cartpole-casadi.PinocchioCasadi.v_node

Definition at line 81 of file cartpole-casadi.py.

x_node

cartpole-casadi.PinocchioCasadi.x_node

Definition at line 134 of file cartpole-casadi.py.

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The documentation for this class was generated from the following file:

• cartpole-casadi.py