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'¶