Source code for jiminy_py.state

from copy import deepcopy
from typing import Optional, Sequence

import numpy as np

[docs]class State: """Store the kinematics and dynamics data of the robot at a given time. """ def __init__(self, t: float, q: np.ndarray, v: Optional[np.ndarray] = None, a: Optional[np.ndarray] = None, tau: Optional[np.ndarray] = None, contact_frames: Optional[Sequence[str]] = None, f_ext: Optional[Sequence[np.ndarray]] = None, copy: bool = False, **kwargs): """ :param t: Time. :param q: Configuration vector. :param v: Velocity vector. :param a: Acceleration vector. :param tau: Joint efforts. :param contact_frames: Name of the contact frames. :param f_ext: Joint external forces. :param copy: Force to copy the arguments. """ # Time self.t = t # Configuration vector self.q = deepcopy(q) if copy else q # Velocity vector self.v = deepcopy(v) if copy else v # Acceleration vector self.a = deepcopy(a) if copy else a # Effort vector self.tau = deepcopy(tau) if copy else tau # Frame names of the contact points if copy: self.contact_frames = deepcopy(contact_frames) else: self.contact_frames = contact_frames # External forces self.f_ext = deepcopy(f_ext) if copy else f_ext def __repr__(self): """Convert the kinematics and dynamics data into string. :returns: The kinematics and dynamics data as a string. """ msg = "" for key, val in self.__dict__.items(): if val is not None: msg += f"{key} : {val}\n" return msg