Classes | Namespaces | Functions | Variables
dcrba.py File Reference

Go to the source code of this file.

Classes

class  dcrba.Coriolis
 
class  dcrba.DCRBA
 
class  dcrba.DRNEA
 
class  dcrba.VRNEA
 

Namespaces

 dcrba
 

Functions

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

Variables

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


pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:33