def __init__(self, pinocchioModel, frame, ref, nu=None, activation=None): self.CostDataType = CostDataFrameRotation CostModelPinocchio.__init__(self, pinocchioModel, ncost=3, nu=nu) self.ref = ref self.frame = frame self.activation = activation if activation is not None else ActivationModelQuad( )
def __init__(self, pinocchioModel, nu=None, ref=None, activation=None): self.CostDataType = CostDataControl nu = nu if nu is not None else pinocchioModel.nv if ref is not None: assert (ref.shape == (nu, )) CostModelPinocchio.__init__(self, pinocchioModel, nu=nu, ncost=nu) self.ref = ref self.activation = activation if activation is not None else ActivationModelQuad( )
def __init__(self, pinocchioModel, frame, ref=None, nu=None, activation=None): self.CostDataType = CostDataFrameVelocityLinear CostModelPinocchio.__init__(self, pinocchioModel, ncost=3) self.ref = ref if ref is not None else np.zeros(3) self.frame = frame self.activation = activation if activation is not None else ActivationModelQuad( )
def __init__(self, pinocchioModel, contactModel, ncost=6, ref=None, nu=None, activation=None): self.CostDataType = CostDataForce CostModelPinocchio.__init__(self, pinocchioModel, ncost=ncost, nu=nu) self.ref = ref if ref is not None else np.zeros(ncost) self.contact = contactModel self.activation = activation if activation is not None else ActivationModelQuad( )
def __init__(self, pinocchioModel, State, ref=None, nu=None, activation=None): self.CostDataType = CostDataState CostModelPinocchio.__init__(self, pinocchioModel, ncost=State.ndx, nu=nu) self.State = State self.ref = ref if ref is not None else State.zero() self.activation = activation if activation is not None else ActivationModelQuad( )