momentumopt.kinoptpy.momentum_kinematics_optimizer.MomentumKinematicsOptimizer Class Reference

Inheritance diagram for momentumopt.kinoptpy.momentum_kinematics_optimizer.MomentumKinematicsOptimizer:

Collaboration diagram for momentumopt.kinoptpy.momentum_kinematics_optimizer.MomentumKinematicsOptimizer:

Public Member Functions
def	__init__ (self)
def	reset (self)
def	initialize (self, planner_setting, max_iterations=50, eps=0.001, endeff_traj_generator=None, RobotWrapper=QuadrupedWrapper)
def	fill_data_from_dynamics (self)
def	fill_endeffector_trajectory (self)
def	fill_kinematic_result (self, it, q, dq)
def	optimize_initial_position (self, init_state)
def	optimize (self, init_state, contact_sequence, dynamic_sequence, plotting=False)

Public Attributes
	q_init
	dq_init
	reg_orientation
	reg_joint_position
	joint_des
	kinematics_sequence
	planner_setting
	endeff_traj_generator
	dt
	num_time_steps
	max_iterations
	eps
	robot
	com_dyn
	lmom_dyn
	amom_dyn
	com_kin
	lmom_kin
	amom_kin
	q_kin
	dq_kin
	hip_names
	hip_ids
	eff_names
	inv_kin
	motion_eff
	endeff_contact
	init_state
	contact_sequence
	dynamic_sequence
	q_via

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

• python/momentumopt/kinoptpy/momentum_kinematics_optimizer.py