Variables
	contact

	contactNormal = np.zeros(3)

	data = robot.data()

	f = np.zeros(3)

	filename = str(os.path.dirname(os.path.abspath(__file__)))

float	fMax = 1000.0

float	fMin = 10.0

	forceGenMat = contact.getForceGeneratorMatrix

	forceIneq = contact.computeForceTask(t, q, v, data)

string	frameName = "RAnkleRoll"

	H_ref = robot.position(data, robot.model().getJointId(frameName))

int	Kd = 2 * Kp

	Kp = np.ones(3)

	model = robot.model()

float	mu = 0.3

string	path = filename + "/../../models/romeo"

	q = model.neutralConfiguration

	robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)

float	t = 0.0

int	tol = 1e-5

string	urdf = path + "/urdf/romeo.urdf"

	v = np.zeros(robot.nv)

	vector = se3.StdVec_StdString()

Variable Documentation

◆ contact

test_ContactPoint.contact

Initial value:

 =  tsid.ContactPoint(
     "contactPoint", robot, frameName, contactNormal, mu, fMin, fMax
 )

Definition at line 29 of file test_ContactPoint.py.

◆ contactNormal

test_ContactPoint.contactNormal = np.zeros(3)

Definition at line 26 of file test_ContactPoint.py.

◆ data

test_ContactPoint.data = robot.data()

Definition at line 20 of file test_ContactPoint.py.

◆ f

test_ContactPoint.f = np.zeros(3)

Definition at line 54 of file test_ContactPoint.py.

◆ filename

test_ContactPoint.filename = str(os.path.dirname(os.path.abspath(__file__)))

Definition at line 13 of file test_ContactPoint.py.

◆ fMax

float test_ContactPoint.fMax = 1000.0

Definition at line 24 of file test_ContactPoint.py.

◆ fMin

float test_ContactPoint.fMin = 10.0

Definition at line 23 of file test_ContactPoint.py.

◆ forceGenMat

test_ContactPoint.forceGenMat = contact.getForceGeneratorMatrix

Definition at line 60 of file test_ContactPoint.py.

◆ forceIneq

test_ContactPoint.forceIneq = contact.computeForceTask(t, q, v, data)

Definition at line 53 of file test_ContactPoint.py.

◆ frameName

string test_ContactPoint.frameName = "RAnkleRoll"

Definition at line 25 of file test_ContactPoint.py.

◆ H_ref

test_ContactPoint.H_ref = robot.position(data, robot.model().getJointId(frameName))

Definition at line 48 of file test_ContactPoint.py.

◆ Kd

int test_ContactPoint.Kd = 2 * Kp

Definition at line 37 of file test_ContactPoint.py.

◆ Kp

test_ContactPoint.Kp = np.ones(3)

Definition at line 36 of file test_ContactPoint.py.

◆ model

test_ContactPoint.model = robot.model()

Definition at line 19 of file test_ContactPoint.py.

◆ mu

float test_ContactPoint.mu = 0.3

Definition at line 22 of file test_ContactPoint.py.

◆ path

string test_ContactPoint.path = filename + "/../../models/romeo"

Definition at line 14 of file test_ContactPoint.py.

◆ q

test_ContactPoint.q = model.neutralConfiguration

Definition at line 44 of file test_ContactPoint.py.

◆ robot

test_ContactPoint.robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)

Definition at line 18 of file test_ContactPoint.py.

◆ t

float test_ContactPoint.t = 0.0

Definition at line 51 of file test_ContactPoint.py.

◆ tol

int test_ContactPoint.tol = 1e-5

Definition at line 12 of file test_ContactPoint.py.

◆ urdf

string test_ContactPoint.urdf = path + "/urdf/romeo.urdf"

Definition at line 15 of file test_ContactPoint.py.

◆ v

test_ContactPoint.v = np.zeros(robot.nv)

Definition at line 45 of file test_ContactPoint.py.

◆ vector

test_ContactPoint.vector = se3.StdVec_StdString()

Definition at line 16 of file test_ContactPoint.py.

Variables