Detailed Description
Definition at line 7 of file hanging_chain_dynamics.py.
Collaboration diagram for HangingChain:Public Member Functions | |
| def | dynamics (self, Ts=0.05) |
| def | state_to_pos (self, y) |
| def | input_to_matrix (self, u) |
| def | simulate (self, int N_sim, np.ndarray y_0, Union[np.ndarray, list, cs.SX.sym] u, Union[np.ndarray, list, cs.SX.sym] p) |
| def | initial_state (self) |
| def | generate_cost_fun (self, α=25, β=1, γ=0.01) |
Public Attributes | |
| N | |
| dim | |
| y1 | |
| y2 | |
| y3 | |
| u | |
| y | |
| m | |
| D | |
| L | |
| params | |
| g | |
| x0 | |
| x_end | |
| f | |
| f_d | |
Member Function Documentation
◆ dynamics()
| def dynamics | ( | self, | |
Ts = 0.05 |
|||
| ) |
Definition at line 28 of file hanging_chain_dynamics.py.
Here is the call graph for this function: Here is the caller graph for this function:◆ state_to_pos()
| def state_to_pos | ( | self, | |
| y | |||
| ) |
Definition at line 66 of file hanging_chain_dynamics.py.
Here is the call graph for this function: Here is the caller graph for this function:◆ input_to_matrix()
| def input_to_matrix | ( | self, | |
| u | |||
| ) |
Reshape the input signal from a vector into a dim × N_horiz matrix (note that CasADi matrices are stored column-wise and NumPy arrays row-wise)
Definition at line 76 of file hanging_chain_dynamics.py.
Here is the call graph for this function: Here is the caller graph for this function:◆ simulate()
| def simulate | ( | self, | |
| int | N_sim, | ||
| np.ndarray | y_0, | ||
| Union[np.ndarray, list, cs.SX.sym] | u, | ||
| Union[np.ndarray, list, cs.SX.sym] | p | ||
| ) |
Definition at line 86 of file hanging_chain_dynamics.py.
Here is the call graph for this function: Here is the caller graph for this function:◆ initial_state()
| def initial_state | ( | self | ) |
Definition at line 97 of file hanging_chain_dynamics.py.
Here is the call graph for this function: Here is the caller graph for this function:◆ generate_cost_fun()
| def generate_cost_fun | ( | self, | |
α = 25, |
|||
β = 1, |
|||
γ = 0.01 |
|||
| ) |
Definition at line 110 of file hanging_chain_dynamics.py.
Here is the call graph for this function: Here is the caller graph for this function:Member Data Documentation
◆ N
| N |
Definition at line 9 of file hanging_chain_dynamics.py.
◆ dim
| dim |
Definition at line 10 of file hanging_chain_dynamics.py.
◆ y1
| y1 |
Definition at line 12 of file hanging_chain_dynamics.py.
◆ y2
| y2 |
Definition at line 13 of file hanging_chain_dynamics.py.
◆ y3
| y3 |
Definition at line 14 of file hanging_chain_dynamics.py.
◆ u
| u |
Definition at line 15 of file hanging_chain_dynamics.py.
◆ y
| y |
Definition at line 16 of file hanging_chain_dynamics.py.
◆ m
| m |
Definition at line 18 of file hanging_chain_dynamics.py.
◆ D
| D |
Definition at line 19 of file hanging_chain_dynamics.py.
◆ L
| L |
Definition at line 20 of file hanging_chain_dynamics.py.
◆ params
| params |
Definition at line 22 of file hanging_chain_dynamics.py.
◆ g
| g |
Definition at line 24 of file hanging_chain_dynamics.py.
◆ x0
| x0 |
Definition at line 25 of file hanging_chain_dynamics.py.
◆ x_end
| x_end |
Definition at line 26 of file hanging_chain_dynamics.py.
◆ f
| f |
Definition at line 49 of file hanging_chain_dynamics.py.
◆ f_d
| f_d |
Definition at line 61 of file hanging_chain_dynamics.py.
The documentation for this class was generated from the following file:
