test_ContactPoint.py File Reference

Go to the source code of this file.

Namespaces
	test_ContactPoint

Variables
	test_ContactPoint.contact
	test_ContactPoint.contactNormal = np.zeros(3)
	test_ContactPoint.data = robot.data()
	test_ContactPoint.f = np.zeros(3)
	test_ContactPoint.filename = str(Path(__file__).resolve().parent)
float	test_ContactPoint.fMax = 1000.0
float	test_ContactPoint.fMin = 10.0
	test_ContactPoint.forceGenMat = contact.getForceGeneratorMatrix
	test_ContactPoint.forceIneq = contact.computeForceTask(t, q, v, data)
string	test_ContactPoint.frameName = "RAnkleRoll"
	test_ContactPoint.H_ref = robot.position(data, robot.model().getJointId(frameName))
int	test_ContactPoint.Kd = 2 * Kp
	test_ContactPoint.Kp = np.ones(3)
	test_ContactPoint.model = robot.model()
float	test_ContactPoint.mu = 0.3
string	test_ContactPoint.path = filename + "/../../models/romeo"
	test_ContactPoint.q = model.neutralConfiguration
	test_ContactPoint.robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)
float	test_ContactPoint.t = 0.0
int	test_ContactPoint.tol = 1e-5
string	test_ContactPoint.urdf = path + "/urdf/romeo.urdf"
	test_ContactPoint.v = np.zeros(robot.nv)
	test_ContactPoint.vector = se3.StdVec_StdString()