adam.parametric.casadi

adam.parametric.casadi#

Submodules#

adam.parametric.casadi.computations_parametric

Classes#

KinDynComputationsParametric

This is a small class that retrieves robot quantities represented in a symbolic fashion using CasADi for Floating Base systems.

Package Contents#

class adam.parametric.casadi.KinDynComputationsParametric(urdfstring: str, joints_name_list: list, links_name_list: list, root_link: str = None, gravity: numpy.array = np.array([0.0, 0.0, -9.80665, 0.0, 0.0, 0.0]), f_opts: dict = dict(jit=False, jit_options=dict(flags='-Ofast')))[source]#

This is a small class that retrieves robot quantities represented in a symbolic fashion using CasADi for Floating Base systems. This is parametric w.r.t the link length and densities.

densities#

length_multiplier#

links_name_list#

rbdalgos#

NDoF#

g#

f_opts#

set_frame_velocity_representation(representation: adam.core.constants.Representations) → None[source]#

Sets the representation of the velocity of the frames

Parameters:: representation (Representations) – The representation of the velocity

mass_matrix_fun() → casadi.Function[source]#

Returns the Mass Matrix functions computed the CRBA

Returns:: Mass Matrix
Return type:: M (casADi function)

centroidal_momentum_matrix_fun() → casadi.Function[source]#

Returns the Centroidal Momentum Matrix functions computed the CRBA

Returns:: Centroidal Momentum matrix
Return type:: Jcc (casADi function)

forward_kinematics_fun(frame: str) → casadi.Function[source]#

Computes the forward kinematics relative to the specified frame

Parameters:: frame (str) – The frame to which the fk will be computed
Returns:: The fk represented as Homogenous transformation matrix
Return type:: T_fk (casADi function)

jacobian_fun(frame: str) → casadi.Function[source]#

Returns the Jacobian relative to the specified frame

Parameters:: frame (str) – The frame to which the jacobian will be computed
Returns:: The Jacobian relative to the frame
Return type:: J_tot (casADi function)

relative_jacobian_fun(frame: str) → casadi.Function[source]#

Returns the Jacobian between the root link and a specified frame frames

Parameters:: frame (str) – The tip of the chain
Returns:: The Jacobian between the root and the frame
Return type:: J (casADi function)

jacobian_dot_fun(frame: str) → casadi.Function[source]#

Returns the Jacobian derivative relative to the specified frame

Parameters:: frame (str) – The frame to which the jacobian will be computed
Returns:: The Jacobian derivative relative to the frame
Return type:: J_dot (casADi function)

CoM_position_fun() → casadi.Function[source]#

Returns the CoM position

Returns:: The CoM position
Return type:: com (casADi function)

bias_force_fun() → casadi.Function[source]#

Returns the bias force of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces)

Returns:: the bias force
Return type:: h (casADi function)

coriolis_term_fun() → casadi.Function[source]#

Returns the coriolis term of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces)

Returns:: the Coriolis term
Return type:: C (casADi function)

gravity_term_fun() → casadi.Function[source]#

Returns the gravity term of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces)

Returns:: the gravity term
Return type:: G (casADi function)

get_total_mass() → casadi.Function[source]#

Returns the total mass of the robot

Returns:: The total mass
Return type:: mass

get_original_densities() → list[float][source]#

Returns the original densities of the parametric links

Returns:: The original densities of the parametric links
Return type:: densities