bindings
python
pinocchio
derivative
xm.py
Go to the documentation of this file.
1
#
2
# Copyright (c) 2016 CNRS
3
#
4
5
import
pinocchio
as
pin
6
from
pinocchio.robot_wrapper
import
RobotWrapper
7
from
pinocchio.utils
import
*
8
from
dcrba
import
*
9
10
np.random.seed(0)
11
12
robot =
RobotWrapper
(
'/home/nmansard/src/pinocchio/pinocchio/models/romeo/urdf/romeo.urdf'
,
13
[
'/home/nmansard/src/pinocchio/pinocchio/models/romeo/'
, ],
14
pin.JointModelFreeFlyer()
15
)
16
q =
rand
(robot.model.nq); q[3:7] /= norm(q[3:7])
17
vq =
rand
(robot.model.nv)
18
aq =
rand
(robot.model.nv)
19
20
# d/dq M(q)
21
dcrba =
DCRBA
(robot)
22
dcrba.pre(q)
23
Mp =
dcrba
()
24
25
# d/dvq RNEA(q,vq) = C(q,vq)
26
coriolis =
Coriolis
(robot)
27
C =
coriolis
(q,vq)
28
29
# d/dq RNEA(q,vq,aq)
30
drnea =
DRNEA
(robot)
31
aq =
rand
(robot.model.nv)
32
R =
drnea
(q,vq,aq)
33
34
dcrba.Coriolis
Definition:
dcrba.py:192
dcrba.DRNEA
Definition:
dcrba.py:268
pinocchio.robot_wrapper
Definition:
robot_wrapper.py:1
dcrba
Definition:
dcrba.py:1
pinocchio.utils.rand
def rand(n)
Definition:
bindings/python/pinocchio/utils.py:39
pinocchio.robot_wrapper.RobotWrapper
Definition:
robot_wrapper.py:12
pinocchio.utils
Definition:
bindings/python/pinocchio/utils.py:1
xm.coriolis
coriolis
Definition:
xm.py:26
dcrba.DCRBA
Definition:
dcrba.py:46
xm.drnea
drnea
Definition:
xm.py:30
pinocchio
Author(s):
autogenerated on Fri Jun 23 2023 02:38:33