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