lambdas Namespace Reference

Classes
class	ancestorOf

Functions
def	jFromIdx (idxv, robot)
def	np_prettyprint (sarg="{: 0.5f}", eps=5e-7)
def	setRobotArgs (robot)

Variables
	__doc__
	adj = lambda nu: np.bmat([[skew(nu[3:]), skew(nu[:3])], [zero([3, 3]), skew(nu[3:])]])
	adjdual
tuple	ancestors
	descendants = lambda root, robot: robot.model.subtrees[root]
	Fcross = lambda x, y: Motion(x).cross(Force(y)).vector
	FCross = lambda V, f: np.bmat([Fcross(V[:, i], f) for i in range(V.shape[1])])
	iv
	Mcross = lambda x, y: Motion(x).cross(Motion(y)).vector
	MCross = lambda V, v: np.bmat([Mcross(V[:, i], v) for i in range(V.shape[1])])
	parent = lambda i, robot: robot.model.parents[i]
	quad = lambda H, v: np.array(td(td(H, v, [2, 0]), v, [1, 0]))
	td = np.tensordot

Function Documentation

jFromIdx()

def lambdas.jFromIdx	(		idxv,
			robot
	)

Return the joint index from the velocity index

Definition at line 10 of file lambdas.py.

np_prettyprint()

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

Definition at line 92 of file lambdas.py.

setRobotArgs()

def lambdas.setRobotArgs

(

robot

)

Definition at line 59 of file lambdas.py.

Variable Documentation

__doc__

lambdas.__doc__

private

Definition at line 70 of file lambdas.py.

adj

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

Definition at line 79 of file lambdas.py.

adjdual

lambdas.adjdual

Initial value:

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

Definition at line 82 of file lambdas.py.

ancestors

tuple lambdas.ancestors

Initial value:

=  (
    lambda j, robot, res=[]: res
    if j == 0
    else ancestors(
        robot.model.parents[j],
        robot,
        [
            j,
        ]
        + res,
    )
)

Definition at line 27 of file lambdas.py.

descendants

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

Definition at line 56 of file lambdas.py.

Fcross

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

Definition at line 72 of file lambdas.py.

FCross

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

Definition at line 76 of file lambdas.py.

iv

lambdas.iv

Initial value:

=  lambda i, robot: list(
    range(
        robot.model.joints[i].idx_v,
        robot.model.joints[i].idx_v + robot.model.joints[i].nv,
    )
)

Definition at line 21 of file lambdas.py.

Mcross

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

Definition at line 69 of file lambdas.py.

MCross

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

Definition at line 75 of file lambdas.py.

parent

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

Definition at line 20 of file lambdas.py.

quad

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

Definition at line 88 of file lambdas.py.

td

lambdas.td = np.tensordot

Definition at line 87 of file lambdas.py.