dcrba Namespace Reference

Classes
class	Coriolis
class	DCRBA
class	DRNEA
class	VRNEA

Functions
def	hessian (robot, q, crossterms=False)

Variables
	aq = rand(robot.model.nv)
	C = np.zeros([robot.model.nv,]*3)
	coriolis = Coriolis(robot)
	dcrba = DCRBA(robot)
	dM = np.zeros([robot.model.nv,]*3)
	dq = zero(robot.model.nv)
	drnea = DRNEA(robot)
int	eps = 1
	gravity
	H = hessian(robot,q)
	Htrue = np.zeros([6,robot.model.nv,robot.model.nv])
	Mp = dcrba()
	NV = robot.model.nv
	q = norm(q[3:7])
	Q = vrnea(q)
	qdq = pin.integrate(robot.model,q,dq)
	R = drnea(q,vq,aq)
	r0 = pin.rnea(robot.model,robot.data,q,vq,aq).copy()
	Rd = zero([NV,NV])
	rnea0 = lambdaq,vq:pin.nle(robot.model,robot.data,q,vq)
	robot
	vq = rand(robot.model.nv)
int	vq1 = vq*0
	vrnea = VRNEA(robot)

Function Documentation

def dcrba.hessian	(		robot,
			q,
			crossterms = False
	)

Compute the Hessian tensor of all the robot joints.
If crossterms, then also compute the Si x Si terms, 
that are not part of the true Hessian but enters in some computations like VRNEA.

Definition at line 14 of file dcrba.py.

Variable Documentation

dcrba.aq = rand(robot.model.nv)

Definition at line 441 of file dcrba.py.

dcrba.C = np.zeros([robot.model.nv,]*3)

Definition at line 412 of file dcrba.py.

dcrba.coriolis = Coriolis(robot)

Definition at line 433 of file dcrba.py.

dcrba.dcrba = DCRBA(robot)

Definition at line 378 of file dcrba.py.

dcrba.dM = np.zeros([robot.model.nv,]*3)

Definition at line 383 of file dcrba.py.

dcrba.dq = zero(robot.model.nv)

Definition at line 385 of file dcrba.py.

dcrba.drnea = DRNEA(robot)

Definition at line 440 of file dcrba.py.

int dcrba.eps = 1

Definition at line 384 of file dcrba.py.

dcrba.gravity

Definition at line 409 of file dcrba.py.

dcrba.H = hessian(robot,q)

Definition at line 358 of file dcrba.py.

dcrba.Htrue = np.zeros([6,robot.model.nv,robot.model.nv])

Definition at line 362 of file dcrba.py.

dcrba.Mp = dcrba()

Definition at line 380 of file dcrba.py.

dcrba.NV = robot.model.nv

Definition at line 444 of file dcrba.py.

dcrba.q = norm(q[3:7])

Definition at line 352 of file dcrba.py.

dcrba.Q = vrnea(q)

Definition at line 406 of file dcrba.py.

dcrba.qdq = pin.integrate(robot.model,q,dq)

Definition at line 392 of file dcrba.py.

dcrba.R = drnea(q,vq,aq)

Definition at line 442 of file dcrba.py.

dcrba.r0 = pin.rnea(robot.model,robot.data,q,vq,aq).copy()

Definition at line 447 of file dcrba.py.

dcrba.Rd = zero([NV,NV])

Definition at line 445 of file dcrba.py.

dcrba.rnea0 = lambdaq,vq:pin.nle(robot.model,robot.data,q,vq)

Definition at line 410 of file dcrba.py.

dcrba.robot

Initial value:

= RobotWrapper('/home/nmansard/src/pinocchio/pinocchio/models/romeo/urdf/romeo.urdf',
                         [ '/home/nmansard/src/pinocchio/pinocchio/models/romeo/', ],
                         pin.JointModelFreeFlyer()
                         )

Definition at line 348 of file dcrba.py.

dcrba.vq = rand(robot.model.nv)

Definition at line 353 of file dcrba.py.

int dcrba.vq1 = vq*0

Definition at line 361 of file dcrba.py.

dcrba.vrnea = VRNEA(robot)

Definition at line 405 of file dcrba.py.