analytical constraints¶

class jiminy_py.core.AbstractConstraint¶

Bases: instance

Raises an exception This class cannot be instantiated from Python

property baumgarte_freq¶: fget( (jiminy_py.core.core.AbstractConstraint)self) -> float fset( (jiminy_py.core.core.AbstractConstraint)self) -> None

compute_jacobian_and_drift((AbstractConstraint)self, (numpy.ndarray)q, (numpy.ndarray)v) → None :¶

Compute the jacobian and drift of the constraint.

Note

To avoid redundant computations, it assumes that computeJointJacobians and framesForwardKinematics has already been called on model->pinocchioModel_.

Parameters:

q – Current joint position.
v – Current joint velocity.

property drift¶

fget( (jiminy_py.core.core.AbstractConstraint)self) -> numpy.ndarray:

Drift of the constraint.

property is_enabled¶: fget( (jiminy_py.core.core.AbstractConstraint)self) -> bool fset( (jiminy_py.core.core.AbstractConstraint)self) -> None

property jacobian¶

fget( (jiminy_py.core.core.AbstractConstraint)self) -> numpy.ndarray:

Jacobian of the constraint.

property kd¶: fget( (jiminy_py.core.core.AbstractConstraint)self) -> float fset( (jiminy_py.core.core.AbstractConstraint)self) -> None

property kp¶: fget( (jiminy_py.core.core.AbstractConstraint)self) -> float fset( (jiminy_py.core.core.AbstractConstraint)self) -> None

property lambda_c¶: fget( (jiminy_py.core.core.AbstractConstraint)self) -> numpy.ndarray

reset((AbstractConstraint)self, (numpy.ndarray)q, (numpy.ndarray)v) → None :¶: This method does not have to be called manually before running a simulation. The Engine is taking care of it.

property size¶

fget( (jiminy_py.core.core.AbstractConstraint)self) -> int:

Dimension of the constraint.

property type¶: fget( (jiminy_py.core.core.AbstractConstraint)self) -> str

class jiminy_py.core.BaseConstraint((object)arg1)¶

Bases: AbstractConstraint

compute_jacobian_and_drift((BaseConstraint)arg1, (numpy.ndarray)arg2, (numpy.ndarray)arg3) → None :¶

Compute the jacobian and drift of the constraint.

Note

To avoid redundant computations, it assumes that computeJointJacobians and framesForwardKinematics has already been called on model->pinocchioModel_.

param q:

Current joint position.

param v:

Current joint velocity.

compute_jacobian_and_drift( (BaseConstraint)arg1, (numpy.ndarray)arg2, (numpy.ndarray)arg3) -> None

reset((BaseConstraint)arg1, (numpy.ndarray)arg2, (numpy.ndarray)arg3) → None :¶: Note

This method does not have to be called manually before running a simulation. The Engine is taking care of it.

reset( (BaseConstraint)arg1, (numpy.ndarray)arg2, (numpy.ndarray)arg3) -> None

type = 'UserConstraint'¶

class jiminy_py.core.JointConstraint((object)self, (str)joint_name)¶

Bases: AbstractConstraint

property joint_index¶: fget( (jiminy_py.core.core.JointConstraint)self) -> int

property joint_name¶: fget( (jiminy_py.core.core.JointConstraint)self) -> str

property reference_configuration¶: fget( (jiminy_py.core.core.JointConstraint)self) -> numpy.ndarray fset( (jiminy_py.core.core.JointConstraint)self) -> None

property rotation_dir¶: fget( (jiminy_py.core.core.JointConstraint)self) -> bool fset( (jiminy_py.core.core.JointConstraint)self) -> None

type = 'JointConstraint'¶

class jiminy_py.core.FrameConstraint((object)arg1, (str)frame_name[, (object)mask_fixed=None])¶

Bases: AbstractConstraint

property dofs_fixed¶: fget( (jiminy_py.core.core.FrameConstraint)self) -> object

property frame_index¶: fget( (jiminy_py.core.core.FrameConstraint)self) -> int

property frame_name¶: fget( (jiminy_py.core.core.FrameConstraint)self) -> str

property local_rotation¶: fget( (jiminy_py.core.core.FrameConstraint)self) -> numpy.ndarray

property reference_transform¶: fget( (jiminy_py.core.core.FrameConstraint)self) -> pinocchio.pinocchio_pywrap.SE3 fset( (jiminy_py.core.core.FrameConstraint)self) -> None

set_normal((FrameConstraint)arg1, (numpy.ndarray)arg2) → None¶

type = 'FrameConstraint'¶

class jiminy_py.core.DistanceConstraint((object)self, (str)first_frame_name, (str)second_frame_name)¶

Bases: AbstractConstraint

property frame_indices¶: fget( (jiminy_py.core.core.DistanceConstraint)self) -> object

property frame_names¶: fget( (jiminy_py.core.core.DistanceConstraint)self) -> object

property reference_distance¶: fget( (jiminy_py.core.core.DistanceConstraint)self) -> float fset( (jiminy_py.core.core.DistanceConstraint)self) -> None

type = 'DistanceConstraint'¶

class jiminy_py.core.SphereConstraint((object)self, (str)frame_name, (float)radius)¶

Bases: AbstractConstraint

property frame_index¶: fget( (jiminy_py.core.core.SphereConstraint)self) -> int

property frame_name¶: fget( (jiminy_py.core.core.SphereConstraint)self) -> str

property normal¶: fget( (jiminy_py.core.core.SphereConstraint)self) -> numpy.ndarray

property radius¶: fget( (jiminy_py.core.core.SphereConstraint)self) -> float

property reference_transform¶: fget( (jiminy_py.core.core.SphereConstraint)self) -> pinocchio.pinocchio_pywrap.SE3 fset( (jiminy_py.core.core.SphereConstraint)self) -> None

type = 'SphereConstraint'¶

class jiminy_py.core.WheelConstraint((object)self, (str)frame_name, (float)radius, (numpy.ndarray)ground_normal, (numpy.ndarray)wheel_axis)¶

Bases: AbstractConstraint

property axis¶: fget( (jiminy_py.core.core.WheelConstraint)self) -> numpy.ndarray

property frame_index¶: fget( (jiminy_py.core.core.WheelConstraint)self) -> int

property frame_name¶: fget( (jiminy_py.core.core.WheelConstraint)self) -> str

property normal¶: fget( (jiminy_py.core.core.WheelConstraint)self) -> numpy.ndarray

property radius¶: fget( (jiminy_py.core.core.WheelConstraint)self) -> float

property reference_transform¶: fget( (jiminy_py.core.core.WheelConstraint)self) -> pinocchio.pinocchio_pywrap.SE3 fset( (jiminy_py.core.core.WheelConstraint)self) -> None

type = 'WheelConstraint'¶