Pendulum Class Reference

Public Member Functions
def	__init__ (self, nbJoint=1)
def	createPendulum (self, nbJoint, rootId=0, prefix="", jointPlacement=None)
def	display (self, q)
def	dynamics (self, x, u, display=False)
def	nobs (self)
def	nq (self)
def	nu (self)
def	nv (self)
def	nx (self)
def	obs (self, x)
def	render (self)
def	reset (self, x0=None)
def	step (self, u)
def	tip (self, q)

Public Attributes
	data
	DT
	Kf
	model
	NDT
	q0
	r
	umax
	viewer
	visuals
	vmax
	withSinCos
	x

Detailed Description

Define a class Robot with 7DOF (shoulder=3 + elbow=1 + wrist=3).
The configuration is nq=7. The velocity is the same.
The members of the class are:
* viewer: a display encapsulating a gepetto viewer client to create 3D objects and
  place them.
* model: the kinematic tree of the robot.
* data: the temporary variables to be used by the kinematic algorithms.
* visuals: the list of all the 'visual' 3D objects to render the robot, each element
  of the list being an object Visual (see above).

See tp1.py for an example of use.

Definition at line 43 of file pendulum.py.

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
			nbJoint = 1
	)

Create a Pinocchio model of a N-pendulum, with N the argument <nbJoint>.

Definition at line 58 of file pendulum.py.

Member Function Documentation

dynamics()

def dynamics	(		self,
			x,
			u,
			display = False
	)

Dynamic function: x,u -> xnext=f(x,y).
Put the result in x (the initial value is destroyed).
Also compute the cost of making this step.
Return x for convenience along with the cost.

Definition at line 182 of file pendulum.py.

tip()

def tip	(		self,
			q
	)

Return the altitude of pendulum tip

Definition at line 177 of file pendulum.py.

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

• doc/d-practical-exercises/src/pendulum.py