pinocchio: lambdas.py File Reference

Functions
def	lambdas.jFromIdx (idxv, robot)

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

def	lambdas.setRobotArgs (robot)

Variables
	lambdas.__doc__

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

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

list	lambdas.ancestors = 0 else ancestors(robot.model.parents[j],robot,[j,]+res)

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

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

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

	lambdas.iv

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

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

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

	lambdas.quad = lambda H,v: np.array(td(td(H,v,[2,0]),v,[1,0]))

	lambdas.td = np.tensordot

Classes