cartpole Namespace Reference

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, :].T
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)

Function Documentation

integrate_no_control()

def cartpole.integrate_no_control	(		x0,
			nsteps
	)

Definition at line 163 of file cartpole.py.

make_cartpole()

def cartpole.make_cartpole

(

ub = True

)

Definition at line 11 of file cartpole.py.

Variable Documentation

a0

cartpole.a0 = cartpole.acc_func(q0, v, u)

Definition at line 155 of file cartpole.py.

cartpole

cartpole.cartpole = CartpoleDynamics(timestep=dt)

Definition at line 146 of file cartpole.py.

dt

cartpole.dt = 0.02

Definition at line 145 of file cartpole.py.

model

cartpole.model = cartpole.model

Definition at line 147 of file cartpole.py.

q0

cartpole.q0 = np.array([0.0, 0.95, 0.01])

Definition at line 151 of file cartpole.py.

q_trajectory

cartpole.q_trajectory

Definition at line 186 of file cartpole.py.

qs_

cartpole.qs_ = states_[: model.nq, :].T

Definition at line 185 of file cartpole.py.

states_

cartpole.states_ = integrate_no_control(x0, nsteps=400)

Definition at line 172 of file cartpole.py.

u

cartpole.u = np.zeros(1)

Definition at line 154 of file cartpole.py.

v

cartpole.v = np.zeros(model.nv)

Definition at line 153 of file cartpole.py.

viz

cartpole.viz

Initial value:

=  MeshcatVisualizer(
        model=model,
        collision_model=cartpole.collision_model,
        visual_model=cartpole.visual_model,
    )

Definition at line 176 of file cartpole.py.

x0

cartpole.x0 = np.append(q0, v)

Definition at line 159 of file cartpole.py.

xnext

cartpole.xnext = cartpole.forward(x0, u)

Definition at line 160 of file cartpole.py.