dcrba Namespace Reference

Classes
class	Coriolis
class	DCRBA
class	DRNEA
class	VRNEA

Functions
def	hessian (robot, q, crossterms=False)
def	rnea0 (q, vq)

Variables
	aq = rand(robot.model.nv)
	C
	coriolis = Coriolis(robot)
	dcrba = DCRBA(robot)
	dM
	dq = np.zeros(robot.model.nv)
	drnea = DRNEA(robot)
int	eps = 1e-6
	gravity
def	H = hessian(robot, q)
	Htrue = np.zeros([6, robot.model.nv, robot.model.nv])
	Mp = dcrba()
	NV = robot.model.nv
	q = rand(robot.model.nq)
	Q = vrnea(q)
	qdq = pin.integrate(robot.model, q, dq)
	R = drnea(q, vq, aq)
	r0 = pin.rnea(robot.model, robot.data, q, vq, aq).copy()
	Rd = np.zeros([NV, NV])
	robot
	vq = rand(robot.model.nv)
int	vq1 = vq * 0
	vrnea = VRNEA(robot)

Function Documentation

hessian()

def dcrba.hessian	(		robot,
			q,
			crossterms = False
	)

Compute the Hessian tensor of all the robot joints.
If crossterms, then also compute the Si x Si terms,
that are not part of the true Hessian but enters in some computations like VRNEA.

Definition at line 26 of file dcrba.py.

rnea0()

def dcrba.rnea0	(		q,
			vq
	)

Definition at line 487 of file dcrba.py.

Variable Documentation

aq

dcrba.aq = rand(robot.model.nv)

Definition at line 533 of file dcrba.py.

C

dcrba.C

Initial value:

=  np.zeros(
        [
            robot.model.nv,
        ]
        * 3
    )

Definition at line 491 of file dcrba.py.

coriolis

dcrba.coriolis = Coriolis(robot)

Definition at line 525 of file dcrba.py.

dcrba

dcrba.dcrba = DCRBA(robot)

Definition at line 447 of file dcrba.py.

dM

dcrba.dM

Initial value:

=  np.zeros(
        [
            robot.model.nv,
        ]
        * 3
    )

Definition at line 452 of file dcrba.py.

dq

dcrba.dq = np.zeros(robot.model.nv)

Definition at line 459 of file dcrba.py.

drnea

dcrba.drnea = DRNEA(robot)

Definition at line 532 of file dcrba.py.

eps

int dcrba.eps = 1e-6

Definition at line 458 of file dcrba.py.

gravity

dcrba.gravity

Definition at line 485 of file dcrba.py.

H

def dcrba.H = hessian(robot, q)

Definition at line 425 of file dcrba.py.

Htrue

dcrba.Htrue = np.zeros([6, robot.model.nv, robot.model.nv])

Definition at line 429 of file dcrba.py.

Mp

dcrba.Mp = dcrba()

Definition at line 449 of file dcrba.py.

NV

dcrba.NV = robot.model.nv

Definition at line 536 of file dcrba.py.

q

dcrba.q = rand(robot.model.nq)

Definition at line 418 of file dcrba.py.

Q

dcrba.Q = vrnea(q)

Definition at line 482 of file dcrba.py.

qdq

dcrba.qdq = pin.integrate(robot.model, q, dq)

Definition at line 466 of file dcrba.py.

R

dcrba.R = drnea(q, vq, aq)

Definition at line 534 of file dcrba.py.

r0

dcrba.r0 = pin.rnea(robot.model, robot.data, q, vq, aq).copy()

Definition at line 539 of file dcrba.py.

Rd

dcrba.Rd = np.zeros([NV, NV])

Definition at line 537 of file dcrba.py.

robot

dcrba.robot

Initial value:

=  RobotWrapper(
        "/home/nmansard/src/pinocchio/pinocchio/models/romeo/urdf/romeo.urdf",
        [
            "/home/nmansard/src/pinocchio/pinocchio/models/romeo/",
        ],
        pin.JointModelFreeFlyer(),
    )

Definition at line 411 of file dcrba.py.

vq

dcrba.vq = rand(robot.model.nv)

Definition at line 420 of file dcrba.py.

vq1

int dcrba.vq1 = vq * 0

Definition at line 428 of file dcrba.py.

vrnea

dcrba.vrnea = VRNEA(robot)

Definition at line 481 of file dcrba.py.