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 = lambdanu:np.bmat([[ skew(nu[3:]),skew(nu[:3])],[zero([3,3]),skew(nu[3:])]])
	adjdual = lambdanu:np.bmat([[ skew(nu[3:]),zero([3,3])],[skew(nu[:3]),skew(nu[3:])]])
int	ancestors = 0
	descendants = lambdaroot,robot:robot.model.subtrees[root]
	Fcross = lambdax,y:Motion(x).cross(Force(y)).vector
	FCross = lambdaV,f:np.bmat([ Fcross(V[:,i],f) for i in range(V.shape[1]) ])
	iv
	Mcross = lambdax,y:Motion(x).cross(Motion(y)).vector
	MCross = lambdaV,v:np.bmat([ Mcross(V[:,i],v) for i in range(V.shape[1]) ])
	parent = lambdai,robot:robot.model.parents[i]
	quad = lambdaH,v:np.matrix(td(td(H,v,[2,0]),v,[1,0])).T
	td = np.tensordot

Function Documentation

def lambdas.jFromIdx	(		idxv,
			robot
	)

Return the joint index from the velocity index

Definition at line 9 of file lambdas.py.

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

Definition at line 61 of file lambdas.py.

def lambdas.setRobotArgs

(

robot

)

Definition at line 32 of file lambdas.py.

Variable Documentation

lambdas.__doc__

private

Definition at line 42 of file lambdas.py.

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

Definition at line 51 of file lambdas.py.

lambdas.adjdual = lambdanu:np.bmat([[ skew(nu[3:]),zero([3,3])],[skew(nu[:3]),skew(nu[3:])]])

Definition at line 54 of file lambdas.py.

int lambdas.ancestors = 0

Definition at line 19 of file lambdas.py.

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

Definition at line 29 of file lambdas.py.

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

Definition at line 44 of file lambdas.py.

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

Definition at line 48 of file lambdas.py.

lambdas.iv

Initial value:

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

Definition at line 17 of file lambdas.py.

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

Definition at line 41 of file lambdas.py.

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

Definition at line 47 of file lambdas.py.

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

Definition at line 16 of file lambdas.py.

lambdas.quad = lambdaH,v:np.matrix(td(td(H,v,[2,0]),v,[1,0])).T

Definition at line 58 of file lambdas.py.

lambdas.td = np.tensordot

Definition at line 57 of file lambdas.py.