lambdas.py File Reference

Go to the source code of this file.

Classes
class	lambdas.ancestorOf

Namespaces
	lambdas

Functions
def	lambdas.jFromIdx (idxv, robot)
def	lambdas.np_prettyprint (sarg='{:0.5f}', eps=5e-7)
def	lambdas.setRobotArgs (robot)

Variables
	lambdas.__doc__
	lambdas.adj = lambdanu:np.bmat([[ skew(nu[3:]),skew(nu[:3])],[zero([3,3]),skew(nu[3:])]])
	lambdas.adjdual = lambdanu:np.bmat([[ skew(nu[3:]),zero([3,3])],[skew(nu[:3]),skew(nu[3:])]])
int	lambdas.ancestors = 0
	lambdas.descendants = lambdaroot,robot:robot.model.subtrees[root]
	lambdas.Fcross = lambdax,y:Motion(x).cross(Force(y)).vector
	lambdas.FCross = lambdaV,f:np.bmat([ Fcross(V[:,i],f) for i in range(V.shape[1]) ])
	lambdas.iv
	lambdas.Mcross = lambdax,y:Motion(x).cross(Motion(y)).vector
	lambdas.MCross = lambdaV,v:np.bmat([ Mcross(V[:,i],v) for i in range(V.shape[1]) ])
	lambdas.parent = lambdai,robot:robot.model.parents[i]
	lambdas.quad = lambdaH,v:np.matrix(td(td(H,v,[2,0]),v,[1,0])).T
	lambdas.td = np.tensordot