cartpole.PinocchioCasadi Class Reference

Inheritance diagram for cartpole.PinocchioCasadi:

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.

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The documentation for this class was generated from the following file:

• cartpole.py