adam.casadi.computations ======================== .. py:module:: adam.casadi.computations Classes ------- .. autoapisummary:: adam.casadi.computations.KinDynComputations Module Contents --------------- .. py:class:: KinDynComputations(urdfstring: str, joints_name_list: list = None, root_link: str = None, gravity: numpy.array = np.array([0.0, 0.0, -9.80665, 0.0, 0.0, 0.0]), f_opts: dict = dict(jit=False, jit_options=dict(flags='-Ofast'), cse=True)) Bases: :py:obj:`adam.model.kindyn_mixin.KinDynFactoryMixin` Class that retrieves robot quantities using CasADi for Floating Base systems. .. py:attribute:: rbdalgos .. py:attribute:: NDoF .. py:attribute:: g .. py:attribute:: f_opts .. py:method:: set_frame_velocity_representation(representation: adam.core.constants.Representations) -> None Sets the representation of the velocity of the frames :param representation: The representation of the velocity :type representation: Representations .. py:method:: mass_matrix_fun() -> casadi.Function Returns the Mass Matrix functions computed the CRBA :returns: Mass Matrix :rtype: M (casADi function) .. py:method:: centroidal_momentum_matrix_fun() -> casadi.Function Returns the Centroidal Momentum Matrix functions computed the CRBA :returns: Centroidal Momentum matrix :rtype: Jcc (casADi function) .. py:method:: forward_kinematics_fun(frame: str) -> casadi.Function Computes the forward kinematics relative to the specified frame :param frame: The frame to which the fk will be computed :type frame: str :returns: The fk represented as Homogenous transformation matrix :rtype: H (casADi function) .. py:method:: jacobian_fun(frame: str) -> casadi.Function Returns the Jacobian relative to the specified frame :param frame: The frame to which the jacobian will be computed :type frame: str :returns: The Jacobian relative to the frame :rtype: J_tot (casADi function) .. py:method:: relative_jacobian_fun(frame: str) -> casadi.Function Returns the Jacobian between the root link and a specified frame frames :param frame: The tip of the chain :type frame: str :returns: The Jacobian between the root and the frame :rtype: J (casADi function) .. py:method:: jacobian_dot_fun(frame: str) -> casadi.Function Returns the Jacobian derivative relative to the specified frame :param frame: The frame to which the jacobian will be computed :type frame: str :returns: The Jacobian derivative relative to the frame :rtype: J_dot (casADi function) .. py:method:: CoM_position_fun() -> casadi.Function Returns the CoM position :returns: The CoM position :rtype: CoM (casADi function) .. py:method:: CoM_jacobian_fun() -> casadi.Function Returns the CoM Jacobian :returns: The CoM Jacobian :rtype: J_com (casADi function) .. py:method:: bias_force_fun() -> casadi.Function Returns the bias force of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces) :returns: the bias force :rtype: h (casADi function) .. py:method:: coriolis_term_fun() -> casadi.Function Returns the coriolis term of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces) :returns: the Coriolis term :rtype: C (casADi function) .. py:method:: gravity_term_fun() -> casadi.Function Returns the gravity term of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces) :returns: the gravity term :rtype: G (casADi function) .. py:method:: get_total_mass() -> float Returns the total mass of the robot :returns: The total mass :rtype: mass .. py:method:: mass_matrix(base_transform: casadi.SX, joint_positions: casadi.SX) Returns the Mass Matrix functions computed the CRBA :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :returns: Mass Matrix :rtype: M (cs.SX) .. py:method:: centroidal_momentum_matrix(base_transform: casadi.SX, joint_positions: casadi.SX) Returns the Centroidal Momentum Matrix functions computed the CRBA :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :returns: Centroidal Momentum matrix :rtype: Jcc (cs.SX) .. py:method:: relative_jacobian(frame: str, joint_positions: casadi.SX) Returns the Jacobian between the root link and a specified frame frames :param frame: The tip of the chain :type frame: str :param joint_positions: The joints position :type joint_positions: cs.SX :returns: The Jacobian between the root and the frame :rtype: J (cs.SX) .. py:method:: jacobian_dot(frame: str, base_transform: casadi.SX, joint_positions: casadi.SX, base_velocity: casadi.SX, joint_velocities: casadi.SX) -> casadi.SX Returns the Jacobian derivative relative to the specified frame :param frame: The frame to which the jacobian will be computed :type frame: str :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :param base_velocity: The base velocity :type base_velocity: cs.SX :param joint_velocities: The joint velocities :type joint_velocities: cs.SX :returns: The Jacobian derivative relative to the frame :rtype: Jdot (cs.SX) .. py:method:: forward_kinematics(frame: str, base_transform: casadi.SX, joint_positions: casadi.SX) Computes the forward kinematics relative to the specified frame :param frame: The frame to which the fk will be computed :type frame: str :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :returns: The fk represented as Homogenous transformation matrix :rtype: H (cs.SX) .. py:method:: jacobian(frame: str, base_transform, joint_positions) Returns the Jacobian relative to the specified frame :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param s: The joints position :type s: cs.SX :param frame: The frame to which the jacobian will be computed :type frame: str :returns: The Jacobian relative to the frame :rtype: J_tot (cs.SX) .. py:method:: bias_force(base_transform: casadi.SX, joint_positions: casadi.SX, base_velocity: casadi.SX, joint_velocities: casadi.SX) -> casadi.SX Returns the bias force of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces) :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :param base_velocity: The base velocity :type base_velocity: cs.SX :param joint_velocities: The joints velocity :type joint_velocities: cs.SX :returns: the bias force :rtype: h (cs.SX) .. py:method:: coriolis_term(base_transform: casadi.SX, joint_positions: casadi.SX, base_velocity: casadi.SX, joint_velocities: casadi.SX) -> casadi.SX Returns the coriolis term of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces) :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :param base_velocity: The base velocity :type base_velocity: cs.SX :param joint_velocities: The joints velocity :type joint_velocities: cs.SX :returns: the Coriolis term :rtype: C (cs.SX) .. py:method:: gravity_term(base_transform: casadi.SX, joint_positions: casadi.SX) -> casadi.SX Returns the gravity term of the floating-base dynamics equation, using a reduced RNEA (no acceleration and external forces) :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :returns: the gravity term :rtype: G (cs.SX) .. py:method:: aba(base_transform: casadi.SX, joint_positions: casadi.SX, base_velocity: casadi.SX, joint_velocities: casadi.SX, joint_torques: casadi.SX, external_wrenches: dict[str, casadi.SX] | None = None) -> casadi.SX Featherstone Articulated-Body Algorithm (floating base, O(n)). :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :param base_velocity: The base velocity :type base_velocity: cs.SX :param joint_velocities: The joint velocities :type joint_velocities: cs.SX :param joint_torques: The joint torques :type joint_torques: cs.SX :param external_wrenches: External wrenches applied to the robot. Defaults to None. :type external_wrenches: dict[str, cs.SX], optional :returns: The base acceleration and the joint accelerations :rtype: cs.SX .. py:method:: aba_fun() -> casadi.Function Returns the Articulated Body Algorithm function for forward dynamics :returns: The joint accelerations and base acceleration :rtype: qdd (casADi function) .. py:method:: CoM_position(base_transform: casadi.SX, joint_positions: casadi.SX) -> casadi.SX Returns the CoM position :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :returns: The CoM position :rtype: CoM (cs.SX) .. py:method:: CoM_jacobian(base_transform: casadi.SX, joint_positions: casadi.SX) -> casadi.SX Returns the CoM Jacobian :param base_transform: The homogenous transform from base to world frame :type base_transform: cs.SX :param joint_positions: The joints position :type joint_positions: cs.SX :returns: The CoM Jacobian :rtype: J_com (cs.SX)