adam.casadi.casadi_like

adam.casadi.casadi_like#

Attributes#

math

Classes#

`CasadiLike`	Wrapper class for Casadi types
`CasadiLikeFactory`	Abstract class for a generic Array wrapper. Every method should be implemented for every data type.
`SpatialMath`	Class implementing the main geometric functions used for computing rigid-body algorithm

Module Contents#

class adam.casadi.casadi_like.CasadiLike[source]#

Bases: adam.core.spatial_math.ArrayLike

Wrapper class for Casadi types

array: casadi.SX | casadi.DM[source]#

__matmul__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides @ operator

__rmatmul__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides @ operator

__mul__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides * operator

__rmul__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides * operator

__add__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides + operator

__radd__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides + operator

__sub__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides - operator

__rsub__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides - operator

__neg__() → CasadiLike[source]#: Overrides - operator

__truediv__(other: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#: Overrides / operator

__setitem__(idx, value: CasadiLike | numpy.typing.ArrayLike)[source]#: Overrides set item operator

__getitem__(idx) → CasadiLike[source]#: Overrides get item operator

property T: CasadiLike[source]#: Returns: CasadiLike: Transpose of the array

class adam.casadi.casadi_like.CasadiLikeFactory[source]#

Bases: adam.core.spatial_math.ArrayLikeFactory

Abstract class for a generic Array wrapper. Every method should be implemented for every data type.

static zeros(*x: int) → CasadiLike[source]#

Returns:: Matrix of zeros of dim *x
Return type:: CasadiLike

static eye(x: int) → CasadiLike[source]#

Parameters:: x (int) – matrix dimension
Returns:: Identity matrix
Return type:: CasadiLike

static array(*x) → CasadiLike[source]#

Returns:: Vector wrapping *x
Return type:: CasadiLike

class adam.casadi.casadi_like.SpatialMath[source]#

Bases: SpatialMath

Class implementing the main geometric functions used for computing rigid-body algorithm

Parameters:: ArrayLike – abstract class describing a generic Array wrapper. It needs to be implemented for every data type

static skew(x: CasadiLike | numpy.typing.ArrayLike) → CasadiLike[source]#

Parameters:: x (Union[CasadiLike, npt.ArrayLike]) – 3D vector
Returns:: the skew symmetric matrix from x
Return type:: CasadiLike

static sin(x: numpy.typing.ArrayLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – angle value
Returns:: the sin value of x
Return type:: CasadiLike

static cos(x: numpy.typing.ArrayLike) → CasadiLike[source]#

Parameters:: x (npt.ArrayLike) – angle value
Returns:: the cos value of x
Return type:: CasadiLike

static outer(x: numpy.typing.ArrayLike, y: numpy.typing.ArrayLike) → CasadiLike[source]#

Parameters:

x (npt.ArrayLike) – vector
y (npt.ArrayLike) – vector

Returns:

outer product between x and y

Return type:

CasadiLike

static vertcat(*x) → CasadiLike[source]#

Returns:: vertical concatenation of elements
Return type:: CasadiLike

static horzcat(*x) → CasadiLike[source]#

Returns:: horizontal concatenation of elements
Return type:: CasadiLike

adam.casadi.casadi_like.math[source]#