Constants:
Number of joints the model describes (int)
Number of joints the robot actually has (int)
List of joints wrt. the whole robot which are described by the model (List)
Compute the Coriolis-/Centrifugal Matrix
q (numpy.array): Vector of joint positions
dq (numpy.array): Vector of joint velocities
Compute the vector of torques due to friction
Compute the vector of torques due to gravity
Compute the inertia matrix for the given position
Compute the vector of actuation torques required for the given motion
q (numpy.array): Vector of joint positions
dq (numpy.array): Vector of joint velocities
ddq (numpy.array): Vector of joint acceleration
Constants:
Number of joints the model describes (int)
Number of joints the robot actually has (int)
List of joints wrt. the whole robot which are described by the model (List)
Compute the Coriolis-/Centrifugal Matrix
q (numpy.array): Vector of joint positions
dq (numpy.array): Vector of joint velocities
Compute the vector of torques due to friction
Compute the vector of torques due to gravity
Compute the inertia matrix for the given position
Compute the vector of actuation torques required for the given motion
q (numpy.array): Vector of joint positions
dq (numpy.array): Vector of joint velocities
ddq (numpy.array): Vector of joint acceleration
Constants:
Number of joints the model describes (int)
Number of joints the robot actually has (int)
List of joints wrt. the whole robot which are described by the model (List)
Compute the Coriolis-/Centrifugal Matrix
q (numpy.array): Vector of joint positions
dq (numpy.array): Vector of joint velocities
Compute the vector of torques due to friction
Compute the vector of torques due to gravity
Compute the inertia matrix for the given position
Compute the vector of actuation torques required for the given motion
q (numpy.array): Vector of joint positions
dq (numpy.array): Vector of joint velocities
ddq (numpy.array): Vector of joint acceleration