analytical constraints¶

class jiminy_py.core.AbstractConstraint¶

Bases: instance

Raises an exception This class cannot be instantiated from Python

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

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

property drift¶: fget( (AbstractConstraint)self) -> numpy.ndarray

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

property jacobian¶: fget( (AbstractConstraint)self) -> numpy.ndarray

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

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

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

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

property size¶: fget( (AbstractConstraint)self) -> int

property type¶: fget( (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_jacobian_and_drift( (BaseConstraint)arg1, (numpy.ndarray)arg2, (numpy.ndarray)arg3) -> None

reset((BaseConstraint)arg1, (numpy.ndarray)arg2, (numpy.ndarray)arg3) → None¶: 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( (JointConstraint)self) -> int

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

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

property rotation_dir¶: fget( (JointConstraint)self) -> bool fset( (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( (FrameConstraint)self) -> object

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

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

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

property reference_transform¶: fget( (FrameConstraint)self) -> SE3 fset( (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( (DistanceConstraint)self) -> object

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

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

type = 'DistanceConstraint'¶

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

Bases: AbstractConstraint

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

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

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

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

property reference_transform¶: fget( (SphereConstraint)self) -> SE3 fset( (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( (WheelConstraint)self) -> numpy.ndarray

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

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

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

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

property reference_transform¶: fget( (WheelConstraint)self) -> SE3 fset( (WheelConstraint)self) -> None

type = 'WheelConstraint'¶