Public Member Functions | |
def | __init__ (self, pin.Model model, timestep=0.05) |
def | create_discrete_dynamics (self) |
def | create_discrete_dynamics_state (self) |
def | create_dynamics (self) |
def | forward (self, x, u) |
def | residual_fwd (self, x, u, xnext) |
Public Attributes | |
acc | |
acc_func | |
cdata | |
cmodel | |
dq_ | |
dyn_jac_expr | |
dyn_jac_fn | |
dyn_qv_fn_ | |
dyn_residual | |
model | |
q_dq | |
q_node | |
timestep | |
u_node | |
v_node | |
x_node | |
Take a Pinocchio model, turn it into a Casadi model and define the appropriate graphs.
Definition at line 57 of file cartpole-casadi.py.
Definition at line 62 of file cartpole-casadi.py.
Create the map `(q,v) -> (qnext, vnext)` using semi-implicit Euler integration.
Definition at line 90 of file cartpole-casadi.py.
Definition at line 125 of file cartpole-casadi.py.
Create the acceleration expression and acceleration function.
Definition at line 70 of file cartpole-casadi.py.
Definition at line 160 of file cartpole-casadi.py.
Definition at line 170 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.acc |
Definition at line 87 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.acc_func |
Definition at line 88 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.cdata |
Definition at line 65 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.cmodel |
Definition at line 64 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.dq_ |
Definition at line 82 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.dyn_jac_expr |
Definition at line 116 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.dyn_jac_fn |
Definition at line 121 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.dyn_qv_fn_ |
Definition at line 108 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.dyn_residual |
Definition at line 152 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.model |
Definition at line 63 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.q_dq |
Definition at line 100 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.q_node |
Definition at line 80 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.timestep |
Definition at line 66 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.u_node |
Definition at line 79 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.v_node |
Definition at line 81 of file cartpole-casadi.py.
cartpole-casadi.PinocchioCasadi.x_node |
Definition at line 134 of file cartpole-casadi.py.