momentumopt.motion_execution.MotionExecutor Class Reference

Inheritance diagram for momentumopt.motion_execution.MotionExecutor:

Collaboration diagram for momentumopt.motion_execution.MotionExecutor:

Public Member Functions
def	__init__ (self, optimized_kin_plan, optimized_dyn_plan, dynamics_feedback, planner_setting, time_vector)
def	calculate_actual_trajectories (self, num_loops, t_vec, joint_configurations, base_states)
def	calculate_momentum (self, delta_t, joint_configuration, base_state)
def	limit_torques (self, torque)
def	execute_motion (self, plotting=False, tune_online=False)
def	print_joint_gains (self, P, D)
def	tunePD (self, P, D)
def	plot_execution (self, t_vec, used_loops, desired_trajectories, actual_trajectories, swing_times)
def	plot_torques (self, t_vec, used_loops, torques, swing_times)
def	plot_forces (self, t_vec, used_loops, forces, swing_times)
Public Member Functions inherited from momentumopt.motion_execution.MotionSimulator
def	__init__ (self, floor_height=0.3, bullet_direct=False)

Public Attributes
	optimized_kin_plan
	optimized_dyn_plan
	dynamics_feedback
	time_vector
	planner_setting
	init_config
Public Attributes inherited from momentumopt.motion_execution.MotionSimulator
	controlled_joints
	tau_min
	tau_max
	robotId
	robot
	sim

---

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

• python/momentumopt/motion_execution.py