Variables
	aEE = np.zeros(6)

	ax = ax.reshape(tsid.robot.nv)

	dv = tsid.formulation.getAccelerations(sol)

	ee_acc = np.empty((3, N)) * nan

	ee_acc_des = np.empty((3, N)) * nan

	ee_acc_ref = np.empty((3, N)) * nan

	ee_pos = np.empty((3, N)) * nan

	ee_pos_ref = np.empty((3, N)) * nan

	ee_vel = np.empty((3, N)) * nan

	ee_vel_ref = np.empty((3, N)) * nan

	f

	HQPData = tsid.formulation.computeProblemData(t, q[:, i], v[:, i])

	label

	leg = ax[i].legend()

	N = conf.N_SIMULATION

	offset = sampleEE.pos()

	pEE = offset.copy()

int	PLOT_EE_ACC = 0

int	PLOT_EE_POS = 1

int	PLOT_EE_VEL = 0

int	PLOT_JOINT_VEL = 0

int	PLOT_TORQUES = 0

	q = np.empty((tsid.robot.nq, N + 1)) * nan

	sampleEE = tsid.trajEE.computeNext()

	samplePosture = tsid.trajPosture.computeNext()

	sol = tsid.solver.solve(HQPData)

float	t = 0.0

	tau = np.empty((tsid.robot.na, N)) * nan

	time = np.arange(0.0, N * conf.dt, conf.dt)

	time_spent = time.time() - time_start

	time_start = time.time()

	tsid = TsidManipulator(conf)

	two_pi_f_amp = conf.two_pi_f * conf.amp

	two_pi_f_squared_amp = conf.two_pi_f * two_pi_f_amp

	v = np.empty((tsid.robot.nv, N + 1)) * nan

	vEE = np.zeros(6)

Variable Documentation

◆ aEE

ex_1_ur5.aEE = np.zeros(6)

Definition at line 49 of file ex_1_ur5.py.

◆ ax

ex_1_ur5.ax = ax.reshape(tsid.robot.nv)

Definition at line 117 of file ex_1_ur5.py.

◆ dv

ex_1_ur5.dv = tsid.formulation.getAccelerations(sol)

Definition at line 77 of file ex_1_ur5.py.

◆ ee_acc

ex_1_ur5.ee_acc = np.empty((3, N)) * nan

Definition at line 32 of file ex_1_ur5.py.

◆ ee_acc_des

ex_1_ur5.ee_acc_des = np.empty((3, N)) * nan

Definition at line 36 of file ex_1_ur5.py.

◆ ee_acc_ref

ex_1_ur5.ee_acc_ref = np.empty((3, N)) * nan

Definition at line 35 of file ex_1_ur5.py.

◆ ee_pos

ex_1_ur5.ee_pos = np.empty((3, N)) * nan

Definition at line 30 of file ex_1_ur5.py.

◆ ee_pos_ref

ex_1_ur5.ee_pos_ref = np.empty((3, N)) * nan

Definition at line 33 of file ex_1_ur5.py.

◆ ee_vel

ex_1_ur5.ee_vel = np.empty((3, N)) * nan

Definition at line 31 of file ex_1_ur5.py.

◆ ee_vel_ref

ex_1_ur5.ee_vel_ref = np.empty((3, N)) * nan

Definition at line 34 of file ex_1_ur5.py.

◆ f

ex_1_ur5.f

Definition at line 117 of file ex_1_ur5.py.

◆ HQPData

ex_1_ur5.HQPData = tsid.formulation.computeProblemData(t, q[:, i], v[:, i])

Definition at line 68 of file ex_1_ur5.py.

◆ label

ex_1_ur5.label

Definition at line 119 of file ex_1_ur5.py.

◆ leg

ex_1_ur5.leg = ax[i].legend()

Definition at line 123 of file ex_1_ur5.py.

◆ N

ex_1_ur5.N = conf.N_SIMULATION

Definition at line 26 of file ex_1_ur5.py.

◆ offset

ex_1_ur5.offset = sampleEE.pos()

Definition at line 41 of file ex_1_ur5.py.

◆ pEE

ex_1_ur5.pEE = offset.copy()

Definition at line 47 of file ex_1_ur5.py.

◆ PLOT_EE_ACC

int ex_1_ur5.PLOT_EE_ACC = 0

Definition at line 20 of file ex_1_ur5.py.

◆ PLOT_EE_POS

int ex_1_ur5.PLOT_EE_POS = 1

Definition at line 18 of file ex_1_ur5.py.

◆ PLOT_EE_VEL

int ex_1_ur5.PLOT_EE_VEL = 0

Definition at line 19 of file ex_1_ur5.py.

◆ PLOT_JOINT_VEL

int ex_1_ur5.PLOT_JOINT_VEL = 0

Definition at line 21 of file ex_1_ur5.py.

◆ PLOT_TORQUES

int ex_1_ur5.PLOT_TORQUES = 0

Definition at line 22 of file ex_1_ur5.py.

◆ q

ex_1_ur5.q = np.empty((tsid.robot.nq, N + 1)) * nan

Definition at line 28 of file ex_1_ur5.py.

◆ sampleEE

ex_1_ur5.sampleEE = tsid.trajEE.computeNext()

Definition at line 38 of file ex_1_ur5.py.

◆ samplePosture

ex_1_ur5.samplePosture = tsid.trajPosture.computeNext()

Definition at line 39 of file ex_1_ur5.py.

◆ sol

ex_1_ur5.sol = tsid.solver.solve(HQPData)

Definition at line 71 of file ex_1_ur5.py.

◆ t

float ex_1_ur5.t = 0.0

Definition at line 54 of file ex_1_ur5.py.

◆ tau

ex_1_ur5.tau = np.empty((tsid.robot.na, N)) * nan

Definition at line 27 of file ex_1_ur5.py.

◆ time

ex_1_ur5.time = np.arange(0.0, N * conf.dt, conf.dt)

Definition at line 114 of file ex_1_ur5.py.

◆ time_spent

ex_1_ur5.time_spent = time.time() - time_start

Definition at line 109 of file ex_1_ur5.py.

◆ time_start

ex_1_ur5.time_start = time.time()

Definition at line 58 of file ex_1_ur5.py.

◆ tsid

ex_1_ur5.tsid = TsidManipulator(conf)

Definition at line 24 of file ex_1_ur5.py.

◆ two_pi_f_amp

ex_1_ur5.two_pi_f_amp = conf.two_pi_f * conf.amp

Definition at line 44 of file ex_1_ur5.py.

◆ two_pi_f_squared_amp

ex_1_ur5.two_pi_f_squared_amp = conf.two_pi_f * two_pi_f_amp

Definition at line 45 of file ex_1_ur5.py.

◆ v

ex_1_ur5.v = np.empty((tsid.robot.nv, N + 1)) * nan

Definition at line 29 of file ex_1_ur5.py.

◆ vEE

ex_1_ur5.vEE = np.zeros(6)

Definition at line 48 of file ex_1_ur5.py.

Variables