analytical constraints

class jiminy_py.core.AbstractConstraint

Bases: Boost.Python.instance

Raises an exception This class cannot be instantiated from Python

property baumgarte_freq
compute_jacobian_and_drift((AbstractConstraint)self, (numpy.ndarray)q, (numpy.ndarray)v) hresult_t
property drift
property is_enabled
property jacobian
property lambda_c
reset((AbstractConstraint)self, (numpy.ndarray)q, (numpy.ndarray)v) hresult_t
property type
class jiminy_py.core.BaseConstraint((object)arg1) None

Bases: jiminy_py.core.AbstractConstraint

compute_jacobian_and_drift((BaseConstraint)arg1, (numpy.ndarray)arg2, (numpy.ndarray)arg3) hresult_t

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

reset((BaseConstraint)arg1, (numpy.ndarray)arg2, (numpy.ndarray)arg3) hresult_t

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

type = 'UserConstraint'
class jiminy_py.core.JointConstraint((object)self, (str)joint_name) None

Bases: jiminy_py.core.AbstractConstraint

property is_enabled
property joint_idx
property joint_name
property reference_configuration
type = 'JointConstraint'
class jiminy_py.core.FixedFrameConstraint((object)arg1, (str)frame_name[, (object)mask_fixed=None]) object

Bases: jiminy_py.core.AbstractConstraint

property dofs_fixed
property frame_idx
property frame_name
property local_rotation
property reference_transform
set_normal((FixedFrameConstraint)arg1, (numpy.ndarray)arg2) None
type = 'FixedFrameConstraint'
class jiminy_py.core.DistanceConstraint((object)self, (str)first_frame_name, (str)second_frame_name, (float)distance_reference) None

Bases: jiminy_py.core.AbstractConstraint

property frames_idx
property frames_names
property reference_distance
type = 'DistanceConstraint'
class jiminy_py.core.SphereConstraint((object)self, (str)frame_name, (float)radius) None

Bases: jiminy_py.core.AbstractConstraint

property frame_idx
property frame_name
property reference_transform
type = 'SphereConstraint'
class jiminy_py.core.WheelConstraint((object)self, (str)frame_name, (float)radius, (numpy.ndarray)ground_normal, (numpy.ndarray)wheel_axis) None

Bases: jiminy_py.core.AbstractConstraint

property frame_idx
property frame_name
property reference_transform
type = 'WheelConstraint'