Public Member Functions | Public Attributes | List of all members
dcrba.VRNEA Class Reference

Public Member Functions

def __call__ (self, q)
 
def __init__ (self, robot)
 

Public Attributes

 Q
 
 robot
 
 YJ
 

Detailed Description

Compute the C tensor so that nle(q,vq) = vq C vq.
Noting Cv = C*vq for an arbitrary robot velocity vq:
Since Mdot = (Cv+Cv')/2, then C = dCv/dvq and dM/dq = (Cv+Cv')

Q is index by i,j,k i.e. tau_k = v.T*Q[:,:,k]*v
At level k, Qk is a lower triangular matrix (same shape as H) where:
  * rows i s.t. i>k are equals to Sk.T*Ycrb_i*S_ixS_j (j the col index), 
  * rows i s.t. i<=k are equals to Sk.T*Ycrb_k*S_ixS_j (j the col index)
To avoid the call to Ycrb_i>k, the first par is set up while computing Q_k

Definition at line 111 of file dcrba.py.

Constructor & Destructor Documentation

◆ __init__()

def dcrba.VRNEA.__init__ (   self,
  robot 
)

Definition at line 124 of file dcrba.py.

Member Function Documentation

◆ __call__()

def dcrba.VRNEA.__call__ (   self,
  q 
)

Definition at line 130 of file dcrba.py.

Member Data Documentation

◆ Q

dcrba.VRNEA.Q

Definition at line 128 of file dcrba.py.

◆ robot

dcrba.VRNEA.robot

Definition at line 125 of file dcrba.py.

◆ YJ

dcrba.VRNEA.YJ

Definition at line 127 of file dcrba.py.


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


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:34