Inheritance diagram for momentumopt.PinocchioKinematicsInterface.PinocchioKinematicsInterface:

Collaboration diagram for momentumopt.PinocchioKinematicsInterface.PinocchioKinematicsInterface:

Public Member Functions
def	__init__ (self)

def	initialize (self, planner_setting)

def	displayPosture (self, kin_state, wait_time)

def	updateJacobiansAndState (self, kin_state, dt)

def	integratePosture (self, kin_state, dt)

def	differentiatePostures (self, ini_state, end_state, dt)

def	logarithmicMap (self, quat_wxyz)

def	initDisplay (self, loadModel)

def	display (self, q)

Public Member Functions inherited from momentumopt::KinematicsInterface
virtual void	initialize (PlannerSetting &planner_setting)=0

virtual Eigen::Vector3d	logarithmicMap (const Eigen::Vector4d quat_wxyz)=0

virtual KinematicsState	integratePosture (KinematicsState &kin_state, double dt)=0

virtual void	displayPosture (const KinematicsState &kin_state, double time_step)=0

virtual KinematicsState	updateJacobiansAndState (KinematicsState &kin_state, double dt)=0

virtual KinematicsState	differentiatePostures (KinematicsState &start_state, KinematicsState &end_state, double timestep)=0

Eigen::MatrixXd &	centerOfMassJacobian ()

Eigen::MatrixXd &	centroidalMomentumMatrix ()

const Eigen::MatrixXd &	centerOfMassJacobian () const

const Eigen::MatrixXd &	centroidalMomentumMatrix () const

void	centerOfMassJacobian (const Eigen::MatrixXd &center_of_mass_jacobian)

void	centroidalMomentumMatrix (const Eigen::MatrixXd &centroidal_mometum_matrix)

Eigen::MatrixXd &	centroidalMomentumMatrixVariation ()

const Eigen::MatrixXd &	centroidalMomentumMatrixVariation () const

void	centroidalMomentumMatrixVariation (const Eigen::MatrixXd &centroidal_momentum_matrix_variation)

Eigen::MatrixXd &	endeffectorJacobian (int eff_id)

const std::vector< Eigen::MatrixXd > &	endeffectorJacobians () const

const Eigen::MatrixXd &	endeffectorJacobian (int eff_id) const

void	endeffectorJacobians (const std::vector< Eigen::MatrixXd > &endeffector_jacobians)

const Eigen::VectorXd &	constraintsVector () const

const Eigen::MatrixXd &	constraintsMatrix () const

void	constraintsVector (const Eigen::VectorXd &constraints_vector)

void	constraintsMatrix (const Eigen::MatrixXd &constraints_matrix)

Public Attributes
	robot

	z_floor

	centroidal_momentum_matrix

	centroidal_momentum_matrix_variation

	center_of_mass_jacobian

	constraintsMatrix

	constraintsVector

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

python/momentumopt/PinocchioKinematicsInterface.py

Public Member Functions

Public Attributes