pendulum.Pendulum Class Reference

Public Member Functions
def	__init__ (self, nbJoint=1)
def	createPendulum (self, nbJoint, rootId=0, prefix='', jointPlacement=None)
def	display (self, q)
def	dynamics (self, x, u, display=False)
def	nobs (self)
def	nq (self)
def	nu (self)
def	nv (self)
def	nx (self)
def	obs (self, x)
def	render (self)
def	reset (self, x0=None)
def	step (self, u)
def	tip (self, q)

Public Attributes
	data
	DT
	Kf
	model
	NDT
	q0
	r
	umax
	viewer
	visuals
	vmax
	withSinCos
	x

Detailed Description

Define a class Robot with 7DOF (shoulder=3 + elbow=1 + wrist=3). 
The configuration is nq=7. The velocity is the same. 
The members of the class are:
* viewer: a display encapsulating a gepetto viewer client to create 3D objects and place them.
* model: the kinematic tree of the robot.
* data: the temporary variables to be used by the kinematic algorithms.
* visuals: the list of all the 'visual' 3D objects to render the robot, each element of the list being
an object Visual (see above).

See tp1.py for an example of use.

Definition at line 41 of file pendulum.py.

Constructor & Destructor Documentation

__init__()

def pendulum.Pendulum.__init__	(		self,
			nbJoint = 1
	)

Create a Pinocchio model of a N-pendulum, with N the argument <nbJoint>.

Definition at line 55 of file pendulum.py.

Member Function Documentation

createPendulum()

def pendulum.Pendulum.createPendulum	(		self,
			nbJoint,
			rootId = 0,
			prefix = '',
			jointPlacement = None
	)

Definition at line 72 of file pendulum.py.

display()

def pendulum.Pendulum.display	(		self,
			q
	)

Definition at line 101 of file pendulum.py.

dynamics()

def pendulum.Pendulum.dynamics	(		self,
			x,
			u,
			display = False
	)

Dynamic function: x,u -> xnext=f(x,y).
Put the result in x (the initial value is destroyed). 
Also compute the cost of making this step.
Return x for convenience along with the cost.

Definition at line 145 of file pendulum.py.

nobs()

def pendulum.Pendulum.nobs

(

self

)

Definition at line 115 of file pendulum.py.

nq()

def pendulum.Pendulum.nq

(

self

)

Definition at line 109 of file pendulum.py.

nu()

def pendulum.Pendulum.nu

(

self

)

Definition at line 117 of file pendulum.py.

nv()

def pendulum.Pendulum.nv

(

self

)

Definition at line 111 of file pendulum.py.

nx()

def pendulum.Pendulum.nx

(

self

)

Definition at line 113 of file pendulum.py.

obs()

def pendulum.Pendulum.obs	(		self,
			x
	)

Definition at line 134 of file pendulum.py.

render()

def pendulum.Pendulum.render

(

self

)

Definition at line 183 of file pendulum.py.

reset()

def pendulum.Pendulum.reset	(		self,
			x0 = None
	)

Definition at line 119 of file pendulum.py.

step()

def pendulum.Pendulum.step	(		self,
			u
	)

Definition at line 129 of file pendulum.py.

tip()

def pendulum.Pendulum.tip	(		self,
			q
	)

Return the altitude of pendulum tip

Definition at line 140 of file pendulum.py.

Member Data Documentation

data

pendulum.Pendulum.data

Definition at line 61 of file pendulum.py.

DT

pendulum.Pendulum.DT

Definition at line 65 of file pendulum.py.

Kf

pendulum.Pendulum.Kf

Definition at line 67 of file pendulum.py.

model

pendulum.Pendulum.model

Definition at line 59 of file pendulum.py.

NDT

pendulum.Pendulum.NDT

Definition at line 66 of file pendulum.py.

q0

pendulum.Pendulum.q0

Definition at line 63 of file pendulum.py.

r

pendulum.Pendulum.r

Definition at line 126 of file pendulum.py.

umax

pendulum.Pendulum.umax

Definition at line 69 of file pendulum.py.

viewer

pendulum.Pendulum.viewer

Definition at line 57 of file pendulum.py.

visuals

pendulum.Pendulum.visuals

Definition at line 58 of file pendulum.py.

vmax

pendulum.Pendulum.vmax

Definition at line 68 of file pendulum.py.

withSinCos

pendulum.Pendulum.withSinCos

Definition at line 70 of file pendulum.py.

x

pendulum.Pendulum.x

Definition at line 125 of file pendulum.py.

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

• pendulum.py