Classes | Functions | Variables
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 = 1e-6
 
 gravity
 
def 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 = lambda q,vq: pin.nle(robot.model,robot.data,q,vq)
 
 robot
 
 vq = rand(robot.model.nv)
 
int vq1 = vq*0
 
 vrnea = VRNEA(robot)
 

Function Documentation

◆ hessian()

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

◆ aq

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

Definition at line 441 of file dcrba.py.

◆ C

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

Definition at line 412 of file dcrba.py.

◆ coriolis

dcrba.coriolis = Coriolis(robot)

Definition at line 433 of file dcrba.py.

◆ dcrba

dcrba.dcrba = DCRBA(robot)

Definition at line 378 of file dcrba.py.

◆ dM

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

Definition at line 383 of file dcrba.py.

◆ dq

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

Definition at line 385 of file dcrba.py.

◆ drnea

dcrba.drnea = DRNEA(robot)

Definition at line 440 of file dcrba.py.

◆ eps

int dcrba.eps = 1e-6

Definition at line 384 of file dcrba.py.

◆ gravity

dcrba.gravity

Definition at line 409 of file dcrba.py.

◆ H

def dcrba.H = hessian(robot,q)

Definition at line 358 of file dcrba.py.

◆ Htrue

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

Definition at line 362 of file dcrba.py.

◆ Mp

dcrba.Mp = dcrba()

Definition at line 380 of file dcrba.py.

◆ NV

dcrba.NV = robot.model.nv

Definition at line 444 of file dcrba.py.

◆ q

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

Definition at line 352 of file dcrba.py.

◆ Q

dcrba.Q = vrnea(q)

Definition at line 406 of file dcrba.py.

◆ qdq

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

Definition at line 392 of file dcrba.py.

◆ R

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

Definition at line 442 of file dcrba.py.

◆ r0

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

Definition at line 447 of file dcrba.py.

◆ Rd

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

Definition at line 445 of file dcrba.py.

◆ rnea0

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

Definition at line 410 of file dcrba.py.

◆ robot

dcrba.robot
Initial value:
1 = RobotWrapper('/home/nmansard/src/pinocchio/pinocchio/models/romeo/urdf/romeo.urdf',
2  [ '/home/nmansard/src/pinocchio/pinocchio/models/romeo/', ],
3  pin.JointModelFreeFlyer()
4  )

Definition at line 348 of file dcrba.py.

◆ vq

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

Definition at line 353 of file dcrba.py.

◆ vq1

int dcrba.vq1 = vq*0

Definition at line 361 of file dcrba.py.

◆ vrnea

dcrba.vrnea = VRNEA(robot)

Definition at line 405 of file dcrba.py.



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