Classes | |
class | CartpoleDynamics |
class | PinocchioCasadi |
Functions | |
def | integrate_no_control (x0, nsteps) |
def | make_cartpole (ub=True) |
Variables | |
a0 = cartpole.acc_func(q0, v, u) | |
cartpole = CartpoleDynamics(timestep=dt) | |
float | dt = 0.02 |
model = cartpole.model | |
q0 = np.array([0.0, 0.95, 0.01]) | |
q_trajectory | |
def | qs_ = states_[: model.nq, :] |
def | states_ = integrate_no_control(x0, nsteps=400) |
u = np.zeros(1) | |
v = np.zeros(model.nv) | |
viz | |
x0 = np.append(q0, v) | |
xnext = cartpole.forward(x0, u) | |
Definition at line 204 of file cartpole-casadi.py.
Definition at line 8 of file cartpole-casadi.py.
cartpole-casadi.cartpole = CartpoleDynamics(timestep=dt) |
Definition at line 187 of file cartpole-casadi.py.
cartpole-casadi.dt = 0.02 |
Definition at line 186 of file cartpole-casadi.py.
cartpole-casadi.model = cartpole.model |
Definition at line 188 of file cartpole-casadi.py.
cartpole-casadi.q0 = np.array([0.0, 0.95, 0.01]) |
Definition at line 192 of file cartpole-casadi.py.
cartpole-casadi.q_trajectory |
Definition at line 229 of file cartpole-casadi.py.
Definition at line 228 of file cartpole-casadi.py.
cartpole-casadi.states_ = integrate_no_control(x0, nsteps=400) |
Definition at line 213 of file cartpole-casadi.py.
cartpole-casadi.u = np.zeros(1) |
Definition at line 195 of file cartpole-casadi.py.
cartpole-casadi.v = np.zeros(model.nv) |
Definition at line 194 of file cartpole-casadi.py.
cartpole-casadi.viz |
Definition at line 219 of file cartpole-casadi.py.
Definition at line 200 of file cartpole-casadi.py.
Definition at line 201 of file cartpole-casadi.py.