autodiff-rnea Namespace Reference

Variables
	a = np.zeros(nv, dtype=AD)
	ADdtau_dv = f.Jacobian(dv).reshape(nv, nv)
	data = model.createData()
	dtau_da
	dtau_dq
	dtau_dv
	dv = np.ones(nv)
	f = ADFun(v, y)
	model = ADpin.Model(pinmodel)
	nq = model.nq
	nv = model.nv
	pinmodel = pin.buildSampleModelHumanoidRandom()
	q = ADpin.neutral(model)
	v = np.array([AD(1.0)] * nv)
	y = ADpin.rnea(model, data, q, v, a)

Variable Documentation

a

autodiff-rnea.a = np.zeros(nv, dtype=AD)

Definition at line 16 of file autodiff-rnea.py.

ADdtau_dv

autodiff-rnea.ADdtau_dv = f.Jacobian(dv).reshape(nv, nv)

Definition at line 28 of file autodiff-rnea.py.

data

autodiff-rnea.data = model.createData()

Definition at line 9 of file autodiff-rnea.py.

dtau_da

autodiff-rnea.dtau_da

Definition at line 29 of file autodiff-rnea.py.

dtau_dq

autodiff-rnea.dtau_dq

Definition at line 29 of file autodiff-rnea.py.

dtau_dv

autodiff-rnea.dtau_dv

Definition at line 29 of file autodiff-rnea.py.

dv

autodiff-rnea.dv = np.ones(nv)

Definition at line 27 of file autodiff-rnea.py.

f

autodiff-rnea.f = ADFun(v, y)

Definition at line 24 of file autodiff-rnea.py.

model

autodiff-rnea.model = ADpin.Model(pinmodel)

Definition at line 8 of file autodiff-rnea.py.

nq

autodiff-rnea.nq = model.nq

Definition at line 11 of file autodiff-rnea.py.

nv

autodiff-rnea.nv = model.nv

Definition at line 12 of file autodiff-rnea.py.

pinmodel

autodiff-rnea.pinmodel = pin.buildSampleModelHumanoidRandom()

Definition at line 7 of file autodiff-rnea.py.

q

autodiff-rnea.q = ADpin.neutral(model)

Definition at line 14 of file autodiff-rnea.py.

v

autodiff-rnea.v = np.array([AD(1.0)] * nv)

Definition at line 15 of file autodiff-rnea.py.

y

autodiff-rnea.y = ADpin.rnea(model, data, q, v, a)

Definition at line 21 of file autodiff-rnea.py.