nbSamples = 10000 ps = ProblemSolver(fullBody) r = Viewer(ps) q_init = hyq_ref[:] r(q_init) from hppy_ik import * from numpy import array from numpy.linalg import norm import eigenpy eigenpy.switchToNumpyArray() __EPS = 1e-4 # load robot packageName = "hyq_description" meshPackageName = "hyq_description" rootJointType = "freeflyer" urdfName = "hyq" urdfSuffix = "" srdfSuffix = "" robotName = "hyq" hyq = IkHelper(robotName, rootJointType, packageName, urdfName, urdfSuffix, srdfSuffix)
print(cmd2) ipython.magic(cmd2) print("\n") eigenpy.switchToNumpyMatrix() print("----------------------") print("switch to numpy matrix") print("----------------------") print("\n") cmd3 = "timeit quat.coeffs()" print(cmd3) ipython.magic(cmd3) print("\n") eigenpy.switchToNumpyArray() print("---------------------") print("switch to numpy array") print("---------------------") print("\n") cmd4 = "timeit quat.coeffs()" print(cmd4) ipython.magic(cmd4) print("\n") cmd5 = "timeit np.asmatrix(quat.coeffs())" print(cmd5) ipython.magic(cmd5) print("\n")