trep.forces
ConfigForce
creates an input variable that applies a force directly to a configuration variable:
Fqi = u(t)
where the u(t) is a Input
variable.
Calculation | Implemented |
---|---|
f |
|
f_dq |
|
f_ddq |
|
f_du |
|
f_dqdq |
|
f_ddqdq |
|
f_ddqddq |
|
f_dudq |
|
f_duddq |
|
f_dudu |
|
Examples
forced-pendulum-inverse-dynamics.py
, initial-conditions.py
, pend-on-cart-optimization.py
Create a new input to apply a force on a configuration variable.
config should be an existing configuration variable (a name, index, or object).
finput should be a string to name the new input variable.
ConfigForce.finput
The input variable (Input
) that controls this force.
ConfigForce.config
The configuration variable (Config
) that this force is applied to.