models.efficiency¶

Transmission efficiency: the motor torque a robot receives, a polynomial of the commanded one, after the friction of the actuator.

Functions

`as_efficiency`(value)	`value` if it is an `Efficiency`, else the efficiency with that linear coefficient.
`coefficients`(p[, prefix])	The efficiency's coefficients among a transmission's Params, by their own names.

Classes

`Efficiency`(*coefficients[, friction])	Delivered motor torque as a polynomial of the commanded one, motor by motor: τ = c₁ u + c₂ u² + … + cₙ uⁿ.