momentumopt.motion_planner.MotionPlanner Class Reference

Public Member Functions
def	__init__ (self, cfg_file, KinOpt=MomentumKinematicsOptimizer, RobotWrapper=QuadrupedWrapper, with_lqr=True)
def	optimize_dynamics (self, kd_iter)
def	optimize_kinematics (self, kd_iter, plotting=False)
def	optimize_dynamics_feedback (self)
def	plot_centroidal (self)
def	plot_foot_traj (self, plot_show=True)
def	replay_kinematics (self, start=0, end=None)
def	plot_base_trajecory (self, start=0, end=None)
def	plot_joint_trajecory (self, start=0, end=None, plot_show=True, fig_suptitle='')
def	plot_com_motion (self, dynamics_states, kinematics_states, plot_show=True, fig_suptitle='')
def	save_files (self)
def	save_qp_files (self)
def	time_vector (self)
def	optimize_motion (self, plot_com_motion=True)

Public Attributes
	planner_setting
	dynlqr_setting
	ini_state
	terrain_description
	contact_plan
	dyn_optimizer
	kin_optimizer
	dynamics_feedback
	with_lqr

Private Member Functions
def	_init_from_settings (self)
def	_plot_show (self, plot_show)

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

• python/momentumopt/motion_planner.py