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¶
- 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¶
- 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'¶