momentumopt.quadruped.quadruped_wrapper.Quadruped12Wrapper Class Reference

Inheritance diagram for momentumopt.quadruped.quadruped_wrapper.Quadruped12Wrapper:

Collaboration diagram for momentumopt.quadruped.quadruped_wrapper.Quadruped12Wrapper:

Public Member Functions
def	__init__ (self, q=None)
def	set_init_config (self)
Public Member Functions inherited from momentumopt.quadruped.quadruped_wrapper.BasicRobotWrapper
def	__init__ (self)
def	set_configuration (self, q)
def	set_velocity (self, dq)
def	set_acceleration (self, ddq)
def	update_configuration (self, delta_q)
def	get_difference (self, q_1, q_2)
def	get_world_oriented_frame_jacobian (self, index)
def	get_jacobian (self, name, dofs=None, internal=True)
def	get_centroidal_momentum (self)
def	get_d_centroidal_momentum (self)
def	get_transformation (self, name, dofs=None)
def	get_desired_velocity (self, goal, transformation_func, dofs=None)
def	initDisplay (self, loadModel=True)
def	ensureDisplay (self)
def	display (self, q)

Public Attributes
	effs
	colors
	joints_list
	floor_height
	robot
	num_ctrl_joints
	model
	data
	q
	M_com
	mass
Public Attributes inherited from momentumopt.quadruped.quadruped_wrapper.BasicRobotWrapper
	model
	data
	q
	dq
	ddq

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

• python/momentumopt/quadruped/quadruped_wrapper.py