Go to the source code of this file.
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| | ex_1.ax |
| |
| | ex_1.com_acc = np.empty((3, N)) * nan |
| |
| | ex_1.com_acc_des = np.empty((3, N)) * nan |
| |
| | ex_1.com_acc_ref = np.empty((3, N)) * nan |
| |
| | ex_1.com_pos = np.empty((3, N)) * nan |
| |
| | ex_1.com_pos_ref = np.empty((3, N)) * nan |
| |
| | ex_1.com_vel = np.empty((3, N)) * nan |
| |
| | ex_1.com_vel_ref = np.empty((3, N)) * nan |
| |
| | ex_1.dv = tsid.formulation.getAccelerations(sol) |
| |
| | ex_1.f = tsid.formulation.getContactForce(tsid.contactRF.name, sol) |
| |
| | ex_1.HQPData = tsid.formulation.computeProblemData(t, q, v) |
| |
| | ex_1.label |
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| | ex_1.leg = ax[i].legend() |
| |
| | ex_1.N = conf.N_SIMULATION |
| |
| | ex_1.q |
| |
| | ex_1.sampleCom = tsid.trajCom.computeNext() |
| |
| | ex_1.samplePosture = tsid.trajPosture.computeNext() |
| |
| | ex_1.sol = tsid.solver.solve(HQPData) |
| |
| float | ex_1.t = 0.0 |
| |
| | ex_1.tau = tsid.formulation.getActuatorForces(sol) |
| |
| | ex_1.time = np.arange(0.0, N * conf.dt, conf.dt) |
| |
| | ex_1.time_spent = time.time() - time_start |
| |
| | ex_1.time_start = time.time() |
| |
| | ex_1.tsid = TsidBiped(conf, conf.viewer) |
| |
| | ex_1.v |
| |