engine¶

class jiminy_py.core.system¶

Bases: Boost.Python.instance

Raises an exception This class cannot be instantiated from Python

property callbackFct¶

property controller¶

property name¶

property robot¶

class jiminy_py.core.EngineMultiRobot((object)arg1) → None¶

Bases: Boost.Python.instance

add_system((EngineMultiRobot)self, (str)system_name, (Robot)robot) → hresult_t¶

add_system( (EngineMultiRobot)self, (str)system_name, (Robot)robot, (AbstractController)controller) -> hresult_t

add_system( (EngineMultiRobot)self, (str)system_name, (Robot)robot, (AbstractController)controller, (object)callback_function) -> hresult_t

static compute_forward_kinematics((system)system, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)a) → None¶

compute_systems_dynamics((EngineMultiRobot)self, (float)t_end, (object)q_list, (object)v_list) → object¶

property forces_coupling¶

property forces_impulse¶

property forces_profile¶

get_log((EngineMultiRobot)arg1) → tuple¶

get_options((EngineMultiRobot)arg1) → dict¶

get_system((EngineMultiRobot)self, (str)system_name) → system¶

get_system_state((EngineMultiRobot)self, (str)system_name) → SystemState¶

property is_simulation_running¶

static read_log_binary((str)filename) → tuple¶

register_force_coupling((EngineMultiRobot)self, (str)system_name_1, (str)system_name_2, (str)frame_name_1, (str)frame_name_2, (object)force_function) → hresult_t :¶

Add a force linking both systems together

This function registers a callback function forceFct that links both systems by a given force. This function must return the force that the second systems applies to the first system, in the global frame of the first frame (i.e. expressed at the origin of the first frame, in word coordinates).

Parameters

systemName1 – Name of the first system (the one receiving the force)
systemName2 – Name of the second system (the one applying the force)
frameName1 – Frame on the first system where the force is applied.
frameName2 – Frame on the second system where (the opposite of) the force is applied.
forceFct – Callback function returning the force that systemName2 applies on systemName1, in the global frame of frameName1.

register_force_impulse((EngineMultiRobot)self, (str)system_name, (str)frame_name, (float)t, (float)dt, (numpy.ndarray)F) → None :¶: Apply an impulse force on a frame for a given duration at the desired time. The force must be given in the world frame.

register_force_profile((EngineMultiRobot)self, (str)system_name, (str)frame_name, (object)force_function[, (float)update_period=0.0]) → None¶

register_viscoelastic_directional_force_coupling((EngineMultiRobot)self, (str)system_name_1, (str)system_name_2, (str)frame_name_1, (str)frame_name_2, (float)stiffness, (float)damping[, (float)rest_length=0.0]) → hresult_t¶: register_viscoelastic_directional_force_coupling( (EngineMultiRobot)self, (str)system_name, (str)frame_name_1, (str)frame_name_2, (float)stiffness, (float)damping [, (float)rest_length=0.0]) -> hresult_t

register_viscoelastic_force_coupling((EngineMultiRobot)self, (str)system_name_1, (str)system_name_2, (str)frame_name_1, (str)frame_name_2, (numpy.ndarray)stiffness, (numpy.ndarray)damping) → hresult_t¶: register_viscoelastic_force_coupling( (EngineMultiRobot)self, (str)system_name, (str)frame_name_1, (str)frame_name_2, (numpy.ndarray)stiffness, (numpy.ndarray)damping) -> hresult_t

remove_all_forces((EngineMultiRobot)arg1) → hresult_t¶

remove_forces_coupling((EngineMultiRobot)self, (str)system_name_1, (str)system_name_2) → hresult_t¶: remove_forces_coupling( (EngineMultiRobot)self [, (str)system_name]) -> hresult_t

remove_forces_impulse((EngineMultiRobot)self[, (str)system_name]) → hresult_t¶

remove_forces_profile((EngineMultiRobot)self[, (str)system_name]) → hresult_t¶

remove_system((EngineMultiRobot)self, (str)system_name) → hresult_t¶

reset((EngineMultiRobot)self[, (bool)reset_random_generator=False[, (bool)remove_all_forces=False]]) → None¶

set_controller((EngineMultiRobot)self, (str)system_name, (AbstractController)controller) → hresult_t¶

set_options((EngineMultiRobot)arg1, (dict)arg2) → hresult_t¶

simulate((EngineMultiRobot)self, (float)t_end, (object)q_init_list, (object)v_init_list[, (object)a_init_list=None]) → hresult_t :¶

Run a simulation of duration tEnd, starting at xInit.

Parameters

tEnd – End time, i.e. amount of time to simulate.
qInit – Initial configuration of every system, i.e. at t=0.0.
vInit – Initial velocity of every system, i.e. at t=0.0.
aInit – Initial acceleration of every system, i.e. at t=0.0. Optional: Zero by default.

property simulation_duration_max¶

start((EngineMultiRobot)self, (object)q_init_list, (object)v_init_list[, (object)a_init_list=None]) → hresult_t :¶

Reset the engine and compute initial state.

This function does NOT reset the engine, robot and controller. It is up to the user to do so, by calling reset method first.

Parameters

qInit – Initial configuration of every system.
vInit – Initial velocity of every system.
aInit – Initial acceleration of every system. Optional: Zero by default.

step((EngineMultiRobot)self[, (float)dt_desired=-1]) → hresult_t :¶

Integrate system from current state for a duration equal to stepSize

This function performs a single ‘integration step’, in the sense that only the endpoint is added to the log. The integrator object is allowed to perform multiple steps inside of this interval. One may specify a negative timestep to use the default update value.

Parameters: stepSize – Duration for which to integrate ; set to negative value to use default update value.

property stepper_state¶

stop((EngineMultiRobot)self) → None :¶

Stop the simulation.

It releases the lock on the robot and the telemetry, so that it is possible again to update the robot (for example to update the options, add or remove sensors…) and to register new variables or forces.

property systems¶

property systems_names¶

property telemetry_time_unit¶

write_log((EngineMultiRobot)self, (str)filename[, (str)format='hdf5']) → hresult_t¶

class jiminy_py.core.StepperState¶

Bases: Boost.Python.instance

Raises an exception This class cannot be instantiated from Python

property a¶

property dt¶

property iter¶

property iter_failed¶

property q¶

property t¶

property v¶

class jiminy_py.core.SystemState¶

Bases: Boost.Python.instance

Raises an exception This class cannot be instantiated from Python

property a¶

property command¶

property f_external¶

property q¶

property u¶

property u_custom¶

property u_internal¶

property u_motor¶

property v¶

class jiminy_py.core.Engine((object)arg1) → None¶

Bases: jiminy_py.core.EngineMultiRobot

add_system()¶: object add_system(tuple args, dict kwds)

property controller¶

property forces_impulse¶

property forces_profile¶

initialize((Engine)self, (Robot)robot[, (AbstractController)controller=None[, (object)callback_function=None]]) → hresult_t¶

property is_initialized¶

register_force_coupling((Engine)self, (str)frame_name_1, (str)frame_name_2, (object)force_function) → hresult_t¶

register_force_impulse((Engine)self, (str)frame_name, (float)t, (float)dt, (numpy.ndarray)F) → None¶

register_force_profile((Engine)self, (str)frame_name, (object)force_function[, (float)update_period=0.0]) → None¶

register_viscoelastic_directional_force_coupling((Engine)self, (str)frame_name_1, (str)frame_name_2, (float)stiffness, (float)damping[, (float)rest_length=0.0]) → hresult_t¶

register_viscoelastic_force_coupling((Engine)self, (str)frame_name_1, (str)frame_name_2, (numpy.ndarray)stiffness, (numpy.ndarray)damping) → hresult_t¶

remove_system((Engine)self, (str)system_name) → hresult_t¶

property robot¶

set_controller((Engine)self, (AbstractController)controller) → hresult_t¶

simulate((Engine)self, (float)t_end, (numpy.ndarray)q_init, (numpy.ndarray)v_init[, (object)a_init=None[, (bool)is_state_theoretical=False]]) → hresult_t¶

start((Engine)self, (numpy.ndarray)q_init, (numpy.ndarray)v_init[, (object)a_init=None[, (bool)is_state_theoretical=False]]) → hresult_t¶

property stepper_state¶

property system¶

property system_state¶