pinocchio  UNKNOWN
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 nq (self)
 
def nv (self)
 
def nx (self)
 
def nobs (self)
 
def nu (self)
 
def reset (self, x0=None)
 
def step (self, u)
 
def obs (self, x)
 
def tip (self, q)
 
def dynamics (self, x, u, display=False)
 
def render (self)
 

Public Attributes

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

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 41 of file pendulum.py.

Constructor & Destructor Documentation

Member Function Documentation

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 145 of file pendulum.py.

References se3.computeAllTerms(), MobileRobotWrapper.data, Pendulum.data, MobileRobotWrapper.display(), Pendulum.display(), Pendulum.DT, Pendulum.Kf, Pendulum.model, Pendulum.NDT, Model.nq, Pendulum.nq(), DPendulum.nu(), Pendulum.nu(), Pendulum.umax, Pendulum.vmax, QValueNetwork.x, DPendulum.x, PolicyNetwork.x, ReplayItem.x, and Pendulum.x.

Referenced by Pendulum.__init__().

def tip (   self,
  q 
)
Return the altitude of pendulum tip

Definition at line 140 of file pendulum.py.

References MobileRobotWrapper.data, Pendulum.data, and Pendulum.model.


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