Variables
	aq = rand(robot.model.nv)

	C = coriolis(q, vq)

	coriolis = Coriolis(robot)

	dcrba = DCRBA(robot)

	drnea = DRNEA(robot)

	Mp = dcrba()

	q = rand(robot.model.nq)

	R = drnea(q, vq, aq)

	robot

	vq = rand(robot.model.nv)

Variable Documentation

◆ aq

xm.aq = rand(robot.model.nv)

Definition at line 24 of file xm.py.

◆ C

xm.C = coriolis(q, vq)

Definition at line 33 of file xm.py.

◆ coriolis

xm.coriolis = Coriolis(robot)

Definition at line 32 of file xm.py.

◆ dcrba

xm.dcrba = DCRBA(robot)

Definition at line 27 of file xm.py.

◆ drnea

xm.drnea = DRNEA(robot)

Definition at line 36 of file xm.py.

◆ Mp

xm.Mp = dcrba()

Definition at line 29 of file xm.py.

◆ q

xm.q = rand(robot.model.nq)

Definition at line 21 of file xm.py.

◆ R

xm.R = drnea(q, vq, aq)

Definition at line 38 of file xm.py.

◆ robot

xm.robot

Initial value:

 =  RobotWrapper(
     "/home/nmansard/src/pinocchio/pinocchio/models/romeo/urdf/romeo.urdf",
     [
         "/home/nmansard/src/pinocchio/pinocchio/models/romeo/",
     ],
     pin.JointModelFreeFlyer(),
 )

Definition at line 14 of file xm.py.

◆ vq

xm.vq = rand(robot.model.nv)

Definition at line 23 of file xm.py.

Variables