Classes
class	ancestorOf

Functions
def	jFromIdx (idxv, robot)

def	np_prettyprint (sarg='{:0.5f}', eps=5e-7)

def	setRobotArgs (robot)

Variables
	__doc__

	adj = lambda nu: np.bmat([[ skew(nu[3:]),skew(nu[:3])],[zero([3,3]),skew(nu[3:])]])

	adjdual = lambda nu: np.bmat([[ skew(nu[3:]),zero([3,3])],[skew(nu[:3]),skew(nu[3:])]])

list	ancestors = 0 else ancestors(robot.model.parents[j],robot,[j,]+res)

	descendants = lambda root,robot: robot.model.subtrees[root]

	Fcross = lambda x,y: Motion(x).cross(Force(y)).vector

	FCross = lambda V,f: np.bmat([ Fcross(V[:,i],f) for i in range(V.shape[1]) ])

	iv

	Mcross = lambda x,y: Motion(x).cross(Motion(y)).vector

	MCross = lambda V,v: np.bmat([ Mcross(V[:,i],v) for i in range(V.shape[1]) ])

	parent = lambda i,robot: robot.model.parents[i]

	quad = lambda H,v: np.array(td(td(H,v,[2,0]),v,[1,0]))

	td = np.tensordot

Function Documentation

◆ jFromIdx()

def lambdas.jFromIdx	(	idxv,
		robot
	)

Return the joint index from the velocity index

Definition at line 9 of file lambdas.py.

◆ np_prettyprint()

def lambdas.np_prettyprint	(	sarg = `'{: 0.5f}'`,
		eps = `5e-7`
	)

Definition at line 61 of file lambdas.py.

◆ setRobotArgs()

def lambdas.setRobotArgs ( robot )

Definition at line 32 of file lambdas.py.

Variable Documentation

◆ doc

lambdas.__doc__

private

Definition at line 42 of file lambdas.py.

◆ adj

lambdas.adj = lambda nu: np.bmat([[ skew(nu[3:]),skew(nu[:3])],[zero([3,3]),skew(nu[3:])]])

Definition at line 51 of file lambdas.py.

◆ adjdual

lambdas.adjdual = lambda nu: np.bmat([[ skew(nu[3:]),zero([3,3])],[skew(nu[:3]),skew(nu[3:])]])

Definition at line 54 of file lambdas.py.

◆ ancestors

list lambdas.ancestors = 0 else ancestors(robot.model.parents[j],robot,[j,]+res)

Definition at line 19 of file lambdas.py.

◆ descendants

lambdas.descendants = lambda root,robot: robot.model.subtrees[root]

Definition at line 29 of file lambdas.py.

◆ Fcross

lambdas.Fcross = lambda x,y: Motion(x).cross(Force(y)).vector

Definition at line 44 of file lambdas.py.

◆ FCross

lambdas.FCross = lambda V,f: np.bmat([ Fcross(V[:,i],f) for i in range(V.shape[1]) ])

Definition at line 48 of file lambdas.py.

◆ iv

lambdas.iv

Initial value:

1 = lambda i,robot: list(range(robot.model.joints[i].idx_v,

2 robot.model.joints[i].idx_v+robot.model.joints[i].nv))

Definition at line 17 of file lambdas.py.

◆ Mcross

lambdas.Mcross = lambda x,y: Motion(x).cross(Motion(y)).vector

Definition at line 41 of file lambdas.py.

◆ MCross

lambdas.MCross = lambda V,v: np.bmat([ Mcross(V[:,i],v) for i in range(V.shape[1]) ])

Definition at line 47 of file lambdas.py.

◆ parent

lambdas.parent = lambda i,robot: robot.model.parents[i]

Definition at line 16 of file lambdas.py.

◆ quad

lambdas.quad = lambda H,v: np.array(td(td(H,v,[2,0]),v,[1,0]))

Definition at line 58 of file lambdas.py.

◆ td

lambdas.td = np.tensordot

Definition at line 57 of file lambdas.py.

Classes

Functions

Variables