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def | __init__ (self, model, endeff_frame_names) |
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def | rotate_J (self, jac, index) |
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def | get_world_oriented_frame_jacobian (self, q, index) |
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def | fill_jacobians (self, q) |
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def | fill_vel_des (self, q, dq, com_ref, lmom_ref, amom_ref, endeff_pos_ref, endeff_vel_ref, joint_regularization_ref) |
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def | fill_weights (self, endeff_contact) |
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def | forward_robot (self, q, dq) |
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| def | compute (self, q, dq, com_ref, lmom_ref, amom_ref, endeff_pos_ref, endeff_vel_ref, endeff_contact, joint_regularization_ref) |
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| robot |
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| model |
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| data |
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| mass |
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| base_id |
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| endeff_frame_names |
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| endeff_ids |
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| is_init_time |
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| ne |
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| nv |
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| w_endeff_tracking |
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| w_endeff_contact |
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| w_lin_mom_tracking |
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| w_ang_mom_tracking |
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| w_joint_regularization |
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| p_endeff_tracking |
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| p_com_tracking |
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| last_q |
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| last_dq |
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| J |
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| vel_des |
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| qp_solver |
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| w |
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| forwarded_robot |
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| def momentumopt.kinoptpy.inverse_kinematics.PointContactInverseKinematics.compute |
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self, |
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q, |
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dq, |
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com_ref, |
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lmom_ref, |
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amom_ref, |
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endeff_pos_ref, |
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endeff_vel_ref, |
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endeff_contact, |
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joint_regularization_ref |
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) |
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- Parameters
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| q | Current robot state |
| dq | Current robot velocity |
| com_ref | Reference com position in global coordinates |
| lmom_ref | Reference linear momentum in global coordinates |
| amom_ref | Reference angular momentum in global coordinates |
| endeff_pos_ref | [N_endeff x 3] Reference endeffectors position in global coordinates |
| endeff_vel_ref | [N_endeff x 3] Reference endeffectors velocity in global coordinates |
The documentation for this class was generated from the following file:
1.8.11 
