dynamapp

Submodules

• kalman module
  • Kalman
    • Kalman.output_label
    • Kalman.standard_deviation_label
    • Kalman.actual_label
    • Kalman.filtered_label
    • Kalman.next_predicted_label
    • Kalman.next_predicted_corrected_label
    • Kalman.step()
    • Kalman.extrapolate()
    • Kalman.to_dataframe()
• math_utils module
  • logger
  • Decomposition
    • Decomposition.eigenvalues
    • Decomposition.left_orthogonal
    • Decomposition.right_orthogonal
  • condition_number()
  • validate_matrix_shape()
  • eigenvalue_decomposition()
  • reduce_decomposition()
  • block_hankel_matrix()
  • vectorize()
  • unvectorize()
  • is_skew_symmetric()
• nfoursid module
  • NFourSID
    • NFourSID.subspace_identification()
    • NFourSID.system_identification()
• jacobians module
  • ModelJacobian
    • ModelJacobian.generalized_torques_wrt_inertia()
    • ModelJacobian.inertia_tensor_wrt_inertia()
    • ModelJacobian.generalized_torques_wrt_dhparams()
    • ModelJacobian.generalized_torques_wrt_damping()
    • ModelJacobian.full_torques_wrt_inertia()
    • ModelJacobian.full_torques_wrt_friction()
  • ModelStateJacobian
    • ModelStateJacobian.eigvals_wrt_inertia()
    • ModelStateJacobian.eigvals_wrt_dhparams()
    • ModelStateJacobian.eigvals_wrt_damping()
    • ModelStateJacobian.state_matrix_a_wrt_inertia()
    • ModelStateJacobian.state_matrix_a_wrt_state()
• model module
  • Model
    • Model.damping_tensor()
    • Model.inertia_tensor()
    • Model.coriolis_tensor()
    • Model.gravity_torques()
    • Model.generalized_forces()
    • Model.generalized_torques()
    • Model.generalized_torque()
    • Model.full_forces()
    • Model.full_torques()
• visualization module
  • TrajectoryVisualizer
    • TrajectoryVisualizer.plot()
• solvers module
  • solve_least_square()
  • solve_riccati_equation()
  • luenberger_observer()
• state_space module
  • StateSpace
    • StateSpace.set_matrices()
    • StateSpace.set_x_init()
    • StateSpace.step()
    • StateSpace.output()
    • StateSpace.to_dataframe()
• model_state module
  • ModelState
    • ModelState.output()
    • ModelState.step()
    • ModelState.set_x_init()
    • ModelState.compute_eigvals()
    • ModelState.lsim()
    • ModelState.compute_obs_matrix()
    • ModelState.compute_ctlb_matrix()
    • ModelState.get_state_matrix_a()
• trajectory module
  • Trajectory
    • Trajectory.get_value()
    • Trajectory.compute_with_constraints()
    • Trajectory.compute_full_trajectory()
  • SplineTrajectory
    • SplineTrajectory.get_value()
    • SplineTrajectory.compute_full_trajectory()
    • SplineTrajectory.compute_with_constraints()
  • TrapezoidalTrajectory
    • TrapezoidalTrajectory.get_value()
    • TrapezoidalTrajectory.compute_full_trajectory()
    • TrapezoidalTrajectory.compute_with_constraints()
  • PeriodicTrajectory
    • PeriodicTrajectory.get_value()
    • PeriodicTrajectory.compute_full_trajectory()
    • PeriodicTrajectory.compute_with_constraints()
  • StepTrajectory
    • StepTrajectory.get_value()
    • StepTrajectory.compute_full_trajectory()
    • StepTrajectory.compute_with_constraints()
• viscoelastic module
  • coulomb_friction_force()
  • friction_force()
• identification module
• generators module
  • ModelDataGenerator
    • ModelDataGenerator.generate_trajectory_data()
    • ModelDataGenerator.compute_velocities()
    • ModelDataGenerator.compute_accelerations()
    • ModelDataGenerator.compute_torques()
  • ModelStateDataGenerator
    • ModelStateDataGenerator.generate_data()
    • ModelStateDataGenerator.compute_data_statistics()