Python centerOfMass Examples

Example #1

File: robot_wrapper.py Project: MaximilienNaveau/pinocchio

 def com(self, q, v=None, a=None, update_kinematics=True):
     if v is not None:
         if a is not None:
             se3.centerOfMass(self.model, self.data, q, v, update_kinematics)
             return self.data.com[0], self.data.vcom[0]
         se3.centerOfMass(self.model, self.data, q, v, a, update_kinematics)
         return self.data.com[0], self.data.vcom[0], self.data.acom[0]
     return se3.centerOfMass(self.model, self.data, q, update_kinematics)

Example #2

 def com(self, q, v=None, a=None, update_kinematics=True):
     if v is not None:
         if a is not None:
             se3.centerOfMass(self.model, self.data, q, v,
                              update_kinematics)
             return self.data.com[0], self.data.vcom[0]
         se3.centerOfMass(self.model, self.data, q, v, a, update_kinematics)
         return self.data.com[0], self.data.vcom[0], self.data.acom[0]
     return se3.centerOfMass(self.model, self.data, q, update_kinematics)

Example #3

File: robot_wrapper.py Project: florent-lamiraux/pinocchio

 def com(self,*args):
     if len(args) == 3:
         q = args[0]
         v = args[1]
         a = args[2]
         se3.centerOfMassAcceleration(self.model,self.data,q,v,a)
         return self.data.com_pos(0), self.data.com_vel(0), self.data.com_acc(0)
     return se3.centerOfMass(self.model,self.data,args[0])

Example #4

File: robot_wrapper.py Project: zamzami/pinocchio

 def com(self,*args):
     if len(args) == 3:
         q = args[0]
         v = args[1]
         a = args[2]
         se3.centerOfMassAcceleration(self.model,self.data,q,v,a)
         return self.data.com[0], self.data.vcom[0], self.data.acom[0]
     return se3.centerOfMass(self.model,self.data,args[0])

Example #5

File: robot_wrapper.py Project: oscar-ramos/oscr-deps

 def com(self, q=None, v=None, a=None):
     if q is None:
         se3.centerOfMass(self.model, self.data)
         return data.com[0]
     if v is not None:
         if a is None:
             se3.centerOfMass(self.model, self.data, q, v)
             return self.data.com[0], self.data.vcom[0]
         se3.centerOfMass(self.model, self.data, q, v, a)
         return self.data.com[0], self.data.vcom[0], self.data.acom[0]
     return se3.centerOfMass(self.model, self.data, q)

Example #6

File: robot_wrapper.py Project: thomasfla/pinocchio

 def com(self,q):
     return se3.centerOfMass(self.model,self.data,q)

Example #7

File: robot_wrapper.py Project: Kevin-Giraud-Esclasse/pinocchio

 def com(self,q):
     return se3.centerOfMass(self.model,self.data,q)