adam.parametric.casadi package#
Submodules#
adam.parametric.casadi.computations_parametric module#
- class adam.parametric.casadi.computations_parametric.KinDynComputationsParametric(urdfstring: str, joints_name_list: list, links_name_list: list, root_link: str = None, gravity: array = array([0., 0., -9.80665, 0., 0., 0.]), f_opts: dict = {'jit': False, 'jit_options': {'flags': '-Ofast'}})[source]#
Bases:
objectThis 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.
- set_frame_velocity_representation(representation: Representations) None[source]#
Sets the representation of the velocity of the frames
- Parameters:
representation (Representations) – The representation of the velocity
- mass_matrix_fun() Function[source]#
Returns the Mass Matrix functions computed the CRBA
- Returns:
Mass Matrix
- Return type:
M (casADi function)
- centroidal_momentum_matrix_fun() 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) 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) 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) 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) 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() Function[source]#
Returns the CoM position
- Returns:
The CoM position
- Return type:
com (casADi function)
- bias_force_fun() 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() 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() 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)