def dgm_for_frame(self, i):
if i not in self.dgms:
jnt = self.jnt_objs[i]
if i > 0 and jnt.r == 0 and jnt.d == 0 and jnt.b == 0:
self.dgms[i] = self.dgm_for_frame(self.robo.ant[i])
else:
symo = Symoro(sydi=self.pars_num)
T = dgm(self.robo, symo, 0, i, fast_form=True, trig_subs=True)
self.dgms[i] = symo.gen_func('dgm_generated', T, self.q_sym)
return self.dgms[i]
def generate_loop_fcn(self):
symo = Symoro(sydi=self.pars_num)
loop_solve(self.robo, symo)
self.l_solver = symo.gen_func('IGM_gen', self.q_pas_sym,
self.q_act_sym, multival=True)