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:

 =  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.

◆ 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.

Classes

Functions

Variables