Public Member Functions | |
| def | __init__ (self, pin.Model model, timestep=0.05) |
| def | create_discrete_dynamics (self) |
| def | create_dynamics (self) |
| def | forward (self, x, u) |
| def | residual_fwd (self, x, u, xnext) |
Public Attributes | |
| acc | |
| acc_func | |
| cdata | |
| cmodel | |
| dq_ | |
| dyn_qv_fn_ | |
| model | |
| q_dq | |
| q_node | |
| timestep | |
| u_node | |
| v_node | |
Detailed Description
Take a Pinocchio model, turn it into a Casadi model and define the appropriate graphs.
Definition at line 60 of file cartpole.py.
Constructor & Destructor Documentation
◆ __init__()
| def cartpole.PinocchioCasadi.__init__ | ( | self, | |
| pin.Model | model, | ||
timestep = 0.05 |
|||
| ) |
Definition at line 65 of file cartpole.py.
Member Function Documentation
◆ create_discrete_dynamics()
| def cartpole.PinocchioCasadi.create_discrete_dynamics | ( | self | ) |
Create the map `(q,v) -> (qnext, vnext)` using semi-implicit Euler integration.
Definition at line 93 of file cartpole.py.
◆ create_dynamics()
| def cartpole.PinocchioCasadi.create_dynamics | ( | self | ) |
Create the acceleration expression and acceleration function.
Definition at line 73 of file cartpole.py.
◆ forward()
| def cartpole.PinocchioCasadi.forward | ( | self, | |
| x, | |||
| u | |||
| ) |
Definition at line 119 of file cartpole.py.
◆ residual_fwd()
| def cartpole.PinocchioCasadi.residual_fwd | ( | self, | |
| x, | |||
| u, | |||
| xnext | |||
| ) |
Definition at line 129 of file cartpole.py.
Member Data Documentation
◆ acc
| cartpole.PinocchioCasadi.acc |
Definition at line 90 of file cartpole.py.
◆ acc_func
| cartpole.PinocchioCasadi.acc_func |
Definition at line 91 of file cartpole.py.
◆ cdata
| cartpole.PinocchioCasadi.cdata |
Definition at line 68 of file cartpole.py.
◆ cmodel
| cartpole.PinocchioCasadi.cmodel |
Definition at line 67 of file cartpole.py.
◆ dq_
| cartpole.PinocchioCasadi.dq_ |
Definition at line 85 of file cartpole.py.
◆ dyn_qv_fn_
| cartpole.PinocchioCasadi.dyn_qv_fn_ |
Definition at line 111 of file cartpole.py.
◆ model
| cartpole.PinocchioCasadi.model |
Definition at line 66 of file cartpole.py.
◆ q_dq
| cartpole.PinocchioCasadi.q_dq |
Definition at line 103 of file cartpole.py.
◆ q_node
| cartpole.PinocchioCasadi.q_node |
Definition at line 83 of file cartpole.py.
◆ timestep
| cartpole.PinocchioCasadi.timestep |
Definition at line 69 of file cartpole.py.
◆ u_node
| cartpole.PinocchioCasadi.u_node |
Definition at line 82 of file cartpole.py.
◆ v_node
| cartpole.PinocchioCasadi.v_node |
Definition at line 84 of file cartpole.py.
The documentation for this class was generated from the following file: