controller

class jiminy_py.core.AbstractController

Bases: instance

Raises an exception This class cannot be instantiated from Python

compute_command((AbstractController)self, (float)t, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)command) → None

get_options((AbstractController)arg1) → dict

initialize((AbstractController)self, (Robot)robot) → None

internal_dynamics((AbstractController)self, (float)t, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)u_custom) → None

property is_initialized

fget( (AbstractController)self) -> bool

register_constant((AbstractController)self, (str)name, (object)value) → None

register_variable((AbstractController)self, (str)name, (object)value) → None :

@copydoc AbstractController::registerVariable

register_variables((AbstractController)self, (list)fieldnames, (object)values) → None

remove_entries((AbstractController)arg1) → None

reset((AbstractController)self[, (bool)reset_dynamic_telemetry=False]) → None

property robot

fget( (AbstractController)self) -> Robot

property sensor_measurements

fget( (AbstractController)self) -> SensorMeasurementTree

set_options((AbstractController)self, (dict)options) → None

class jiminy_py.core.BaseController((object)arg1)

Bases: AbstractController

compute_command((BaseController)self, (float)t, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)command) → None

compute_command( (BaseController)arg1, (float)arg2, (numpy.ndarray)arg3, (numpy.ndarray)arg4, (numpy.ndarray)arg5) -> None

internal_dynamics((BaseController)self, (float)t, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)u_custom) → None

internal_dynamics( (BaseController)arg1, (float)arg2, (numpy.ndarray)arg3, (numpy.ndarray)arg4, (numpy.ndarray)arg5) -> None

reset((BaseController)self[, (bool)reset_dynamic_telemetry=False]) → None

reset( (BaseController)self [, (bool)reset_dynamic_telemetry=False]) -> None

class jiminy_py.core.FunctionalController((object)arg1[, (object)compute_command=None[, (object)internal_dynamics=None]])

Bases: BaseFunctionalController

reset((FunctionalController)self[, (bool)reset_dynamic_telemetry=False]) → None

reset( (FunctionalController)self [, (bool)reset_dynamic_telemetry=False]) -> None