models.kinematics¶

Kinematics as numbers: positions, rotations, Jacobians and Hessians of any point of a robot.

Functions

`contact_map`(J[, normal])	The matrix A of f = A τ: the force at a point from the torques on the coordinates its Jacobian `J` (3, n) is taken in, by the pseudo-inverse (along `normal` if given).
`contact_projection`([normal])	The matrix that keeps the part of a force along `normal` (any length); identity without.

Classes

`Kinematics`(robot[, coordinates])	Positions, rotations, Jacobians and Hessians of a robot's points, exact by automatic differentiation, at the Params' current values.