dynamics

Robot dynamics assembled from the robot’s own components, in the canonical residual form.

M(q) a + h(q, v) − B(q) u − Σ (J G)ᵀ f = 0: inertances give M, the Lagrangian of T = ½ vᵀ M v gives h, springs, gravity and dampers give f, the actuation gives B.

Functions

compile_dynamics(robot[, runtime, actuation])

Compile the dynamics of robot from its components.

needs_energy(dynamics, what)

The energy and power functions of dynamics, or a ValueError that says what needed them: equations of motion given as a function (models.Equations) have them only when they come with an energy.

Classes

Dynamics(robot, params, live, forward, ...)

CasADi functions of a robot's dynamics; p holds its live Params.