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 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 frames_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 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 frame_index

fget( (WheelConstraint)self) -> int

property frame_name

fget( (WheelConstraint)self) -> str

property reference_transform

fget( (WheelConstraint)self) -> SE3 fset( (WheelConstraint)self) -> None

type = 'WheelConstraint'