Public Member Functions
def	__init__ (self, conf, viewer=True)

def	integrate_dv (self, q, v, dv, dt)

Public Attributes
	actuationBoundsTask

	conf

	EE

	eeTask

	formulation

	gui

	jointBoundsTask

	model

	postureTask

	q

	robot

	robot_display

	solver

	tau_max

	tau_min

	trajEE

	trajPosture

	v

	v_max

	v_min

Detailed Description

Standard TSID formulation for a robot manipulator
- end-effector task
- Postural task
- torque limits
- pos/vel limits

Definition at line 12 of file tsid_manipulator.py.

Constructor & Destructor Documentation

◆ init()

def tsid_manipulator.TsidManipulator.__init__	(	self,
		conf,
		viewer = `True`
	)

Definition at line 20 of file tsid_manipulator.py.

Member Function Documentation

◆ integrate_dv()

def tsid_manipulator.TsidManipulator.integrate_dv	(	self,
		q,
		v,
		dv,
		dt
	)

Definition at line 111 of file tsid_manipulator.py.

Member Data Documentation

◆ actuationBoundsTask

tsid_manipulator.TsidManipulator.actuationBoundsTask

Definition at line 81 of file tsid_manipulator.py.

◆ conf

tsid_manipulator.TsidManipulator.conf

Definition at line 21 of file tsid_manipulator.py.

◆ EE

tsid_manipulator.TsidManipulator.EE

Definition at line 52 of file tsid_manipulator.py.

◆ eeTask

tsid_manipulator.TsidManipulator.eeTask

Definition at line 45 of file tsid_manipulator.py.

◆ formulation

tsid_manipulator.TsidManipulator.formulation

Definition at line 83 of file tsid_manipulator.py.

◆ gui

tsid_manipulator.TsidManipulator.gui

Definition at line 107 of file tsid_manipulator.py.

◆ jointBoundsTask

tsid_manipulator.TsidManipulator.jointBoundsTask

Definition at line 82 of file tsid_manipulator.py.

◆ model

tsid_manipulator.TsidManipulator.model

Definition at line 24 of file tsid_manipulator.py.

◆ postureTask

tsid_manipulator.TsidManipulator.postureTask

Definition at line 80 of file tsid_manipulator.py.

◆ q

tsid_manipulator.TsidManipulator.q

Definition at line 85 of file tsid_manipulator.py.

◆ robot

tsid_manipulator.TsidManipulator.robot

Definition at line 22 of file tsid_manipulator.py.

◆ robot_display

tsid_manipulator.TsidManipulator.robot_display

Definition at line 90 of file tsid_manipulator.py.

◆ solver

tsid_manipulator.TsidManipulator.solver

Definition at line 84 of file tsid_manipulator.py.

◆ tau_max

tsid_manipulator.TsidManipulator.tau_max

Definition at line 57 of file tsid_manipulator.py.

◆ tau_min

tsid_manipulator.TsidManipulator.tau_min

Definition at line 58 of file tsid_manipulator.py.

◆ trajEE

tsid_manipulator.TsidManipulator.trajEE

Definition at line 54 of file tsid_manipulator.py.

◆ trajPosture

tsid_manipulator.TsidManipulator.trajPosture

Definition at line 79 of file tsid_manipulator.py.

◆ v

tsid_manipulator.TsidManipulator.v

Definition at line 86 of file tsid_manipulator.py.

◆ v_max

tsid_manipulator.TsidManipulator.v_max

Definition at line 67 of file tsid_manipulator.py.

◆ v_min

tsid_manipulator.TsidManipulator.v_min

Definition at line 68 of file tsid_manipulator.py.

The documentation for this class was generated from the following file:

tsid_manipulator.py

Public Member Functions

Public Attributes