pinocchio: lambdas.py File Reference

Functions
def	lambdas.jFromIdx (idxv, robot)

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

def	lambdas.setRobotArgs (robot)

Variables
	lambdas.__doc__

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

	lambdas.adjdual

tuple	lambdas.ancestors

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

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

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

	lambdas.iv

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

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

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

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

	lambdas.td = np.tensordot

Classes