Index

A

adaptNoiseCovariance() (pyDynaMapp.identification.Kalman.Kalman method) addActuatorInertia() (pyDynaMapp.dynamics.regressor.Regressor method)

addFriction() (pyDynaMapp.dynamics.regressor.Regressor method) addJointOffset() (pyDynaMapp.dynamics.regressor.Regressor method)

B

Backlash (class in pyDynaMapp.viscoelastic) (class in pyDynaMapp.viscoelastic.backlash)

BLDC (class in pyDynaMapp.models.BLDC)

C

checkCurrent() (pyDynaMapp.models.BLDC.BLDC method) checkSkewSymmetric() (in module pyDynaMapp.utils.tools) checkTorque() (pyDynaMapp.models.BLDC.BLDC method) clampArray() (in module pyDynaMapp.utils.tools) columnVector() (in module pyDynaMapp.utils.tools) computeActuatorTorques() (pyDynaMapp.dynamics.robot.Robot method) computeArmatureCurrent() (pyDynaMapp.models.BLDC.BLDC method) computeAugmentedStateMatrices() (pyDynaMapp.dynamics.state_space.StateSpace method) computeBaseInertiasParams() (pyDynaMapp.dynamics.robot.Robot method) computeBasicRegressor() (pyDynaMapp.dynamics.regressor.Regressor method) computeBasicSparseRegressor() (pyDynaMapp.dynamics.regressor.Regressor method) computeCompliance() (pyDynaMapp.models.harmonic_drive.HarmonicDrive method) computeConstraintedDifferentiationError() (pyDynaMapp.trajectory.fourier.FourierGenerator method) computeCorlolisMatrix() (pyDynaMapp.dynamics.robot.Robot method) computeCorrelation() (in module pyDynaMapp.utils.math) computeCtlbMatrix() (pyDynaMapp.dynamics.state_space.StateSpace method) computeCumulativeCorrelation() (in module pyDynaMapp.utils.math) computeDifferentialModel() (pyDynaMapp.dynamics.robot.Robot method) computeDifferentialRegressor() (pyDynaMapp.dynamics.regressor.Regressor method) computeDifferentiationError() (pyDynaMapp.dynamics.regressor.Regressor method) (pyDynaMapp.trajectory.fourier.FourierGenerator method) computeFrictionForce() (pyDynaMapp.viscoelastic.Dahl method) (pyDynaMapp.viscoelastic.dahl.Dahl method) (pyDynaMapp.viscoelastic.LuGre method) (pyDynaMapp.viscoelastic.lugre.LuGre method) (pyDynaMapp.viscoelastic.maxwell_slip.MaxwellSlip method) (pyDynaMapp.viscoelastic.MaxwellSlip method) computeFrictionTorques() (pyDynaMapp.dynamics.robot.Robot method) computeFullRegressor() (pyDynaMapp.dynamics.regressor.Regressor method) computeFullTrajectory() (pyDynaMapp.trajectory.fourier.FourierGenerator method) (pyDynaMapp.trajectory.spline.SplineGenerator method) computeGaussianNoise() (pyDynaMapp.dynamics.state_space.StateSpace method) computeGeneralizedTorques() (pyDynaMapp.dynamics.robot.Robot method)

computeGravityTorques() (pyDynaMapp.dynamics.robot.Robot method) computeIdentificationModel() (pyDynaMapp.dynamics.robot.Robot method) computeLsCostFunction() (pyDynaMapp.identification.IDIM.IDIMNLS method) (pyDynaMapp.identification.IDIM.IDIMOLS method) computeMassMatrix() (pyDynaMapp.dynamics.robot.Robot method) computeObsMatrix() (pyDynaMapp.dynamics.state_space.StateSpace method) computeOutputTorque() (pyDynaMapp.models.BLDC.BLDC method) computePoissonNoise() (pyDynaMapp.dynamics.state_space.StateSpace method) computePositionNoise() (pyDynaMapp.utils.robot_data.RobotData method) computeProba() (pyDynaMapp.trajectory.fourier.FourierGenerator method) computeReducedRegressor() (pyDynaMapp.dynamics.regressor.Regressor method) computeReducedStateMatrices() (pyDynaMapp.dynamics.state_space.StateSpace method) computeRegressionCriterion() (pyDynaMapp.dynamics.regressor.Regressor method) computeRelativeError() (pyDynaMapp.identification.IDIM.IDIMNLS method) computeStateEigvals() (pyDynaMapp.dynamics.state_space.StateSpace method) computeStateInputVector() (pyDynaMapp.dynamics.state_space.StateSpace method) computeStateMatrices() (pyDynaMapp.dynamics.state_space.StateSpace method) computeStateTransitionMatrix() (pyDynaMapp.dynamics.state_space.StateSpace method) computeSteadyForce() (pyDynaMapp.viscoelastic.LuGre method) (pyDynaMapp.viscoelastic.lugre.LuGre method) computeStiffnessTorques() (pyDynaMapp.dynamics.robot.Robot method) computeTorqueNoise() (pyDynaMapp.utils.robot_data.RobotData method) computeTrajectoryConstraints() (pyDynaMapp.trajectory.spline.SplineGenerator method) computeTrajectoryCriterion() (pyDynaMapp.trajectory.fourier.FourierGenerator method) computeTrajectoryError() (pyDynaMapp.trajectory.fourier.FourierGenerator method) computeTrajectoryIdentifiability() (pyDynaMapp.trajectory.fourier.FourierGenerator method) (pyDynaMapp.trajectory.spline.SplineGenerator method) computeTrajectoryState() (pyDynaMapp.trajectory.fourier.FourierGenerator method) (pyDynaMapp.trajectory.spline.SplineGenerator method) computeTrajectoryTorques() (pyDynaMapp.dynamics.robot.Robot method) computeViscousFrictionForce() (in module pyDynaMapp.viscoelastic.viscous) conditionNumber() (in module pyDynaMapp.utils.math) cumulativeRMSE() (in module pyDynaMapp.utils.math) CVA (class in pyDynaMapp.identification.CVA)

D

Dahl (class in pyDynaMapp.viscoelastic) (class in pyDynaMapp.viscoelastic.dahl) dahl() (pyDynaMapp.viscoelastic.Dahl method) (pyDynaMapp.viscoelastic.dahl.Dahl method)

deg2rad() (in module pyDynaMapp.utils.tools) discreteTimeIntegral() (in module pyDynaMapp.utils.math)

E

evaluate() (pyDynaMapp.identification.IDIM.IDIMNLS method) (pyDynaMapp.identification.Kalman.Kalman method)

F

filter() (pyDynaMapp.identification.Kalman.Kalman method)

fit() (pyDynaMapp.identification.CVA.CVA method) FourierGenerator (class in pyDynaMapp.trajectory.fourier)

G

genralizedInertiasParams() (pyDynaMapp.dynamics.robot.Robot method) getActuatorInertiasMatrix() (pyDynaMapp.dynamics.robot.Robot method) getAugmentedStateVector() (pyDynaMapp.dynamics.state_space.StateSpace method)

getOutputTorque() (pyDynaMapp.models.harmonic_drive.HarmonicDrive method) getOutputVelocity() (pyDynaMapp.models.harmonic_drive.HarmonicDrive method) getStateVector() (pyDynaMapp.dynamics.state_space.StateSpace method) getStiffnessMatrix() (pyDynaMapp.dynamics.robot.Robot method)

H

HarmonicDrive (class in pyDynaMapp.models.harmonic_drive)

I

IDIM (class in pyDynaMapp.identification.IDIM) IDIMMLE (class in pyDynaMapp.identification.IDIM) IDIMNLS (class in pyDynaMapp.identification.IDIM)

IDIMOLS (class in pyDynaMapp.identification.IDIM) IDIMWLS (class in pyDynaMapp.identification.IDIM) initConfig() (pyDynaMapp.trajectory.trapezoidal.TrapezoidalGenerator method)

K

Kalman (class in pyDynaMapp.identification.Kalman)

L

linearize() (pyDynaMapp.dynamics.state_space.StateSpace method) lowPassfilter() (pyDynaMapp.utils.robot_data.RobotData method) lsim() (pyDynaMapp.dynamics.state_space.StateSpace method)

luenbergerObserver() (in module pyDynaMapp.utils.solver) LuGre (class in pyDynaMapp.viscoelastic) (class in pyDynaMapp.viscoelastic.lugre)

M

MAE() (in module pyDynaMapp.utils.math) matrix2Text() (in module pyDynaMapp.utils.tools) Maxwell (class in pyDynaMapp.viscoelastic.maxwell) maxwell() (pyDynaMapp.viscoelastic.maxwell_slip.MaxwellSlip method) (pyDynaMapp.viscoelastic.MaxwellSlip method) MaxwellSlip (class in pyDynaMapp.viscoelastic) (class in pyDynaMapp.viscoelastic.maxwell_slip) module pyDynaMapp pyDynaMapp.dynamics pyDynaMapp.dynamics.regressor pyDynaMapp.dynamics.robot pyDynaMapp.dynamics.state_space pyDynaMapp.extern pyDynaMapp.identification pyDynaMapp.identification.CVA pyDynaMapp.identification.IDIM pyDynaMapp.identification.Kalman pyDynaMapp.identification.LMI pyDynaMapp.identification.MOESP_VAR pyDynaMapp.identification.N4SID_VAR pyDynaMapp.identification.ORT pyDynaMapp.identification.PF pyDynaMapp.models pyDynaMapp.models.BLDC pyDynaMapp.models.harmonic_drive pyDynaMapp.trajectory pyDynaMapp.trajectory.fourier pyDynaMapp.trajectory.spline pyDynaMapp.trajectory.trajectory pyDynaMapp.trajectory.trapezoidal pyDynaMapp.utils pyDynaMapp.utils.math pyDynaMapp.utils.robot_data pyDynaMapp.utils.solver pyDynaMapp.utils.tools pyDynaMapp.viscoelastic pyDynaMapp.viscoelastic.backlash pyDynaMapp.viscoelastic.cuLugre pyDynaMapp.viscoelastic.dahl pyDynaMapp.viscoelastic.lugre pyDynaMapp.viscoelastic.maxwell pyDynaMapp.viscoelastic.maxwell_slip pyDynaMapp.viscoelastic.viscous

MOESP (class in pyDynaMapp.identification.MOESP_VAR)

N

N4SID (class in pyDynaMapp.identification.N4SID_VAR)

O

opt() (pyDynaMapp.identification.IDIM.IDIM method)

optimize() (pyDynaMapp.identification.IDIM.IDIM method) (pyDynaMapp.identification.IDIM.IDIMNLS method)

P

plot2Arrays() (in module pyDynaMapp.utils.tools) plot3Arrays() (in module pyDynaMapp.utils.tools) plotArray() (in module pyDynaMapp.utils.tools) plotElementWiseArray() (in module pyDynaMapp.utils.tools) plotTrajectory() (pyDynaMapp.trajectory.trajectory.TrajectoryGenerator method) predict() (pyDynaMapp.identification.Kalman.Kalman method) (pyDynaMapp.identification.Kalman.RobustKalman method) pyDynaMapp module pyDynaMapp.dynamics module pyDynaMapp.dynamics.regressor module pyDynaMapp.dynamics.robot module pyDynaMapp.dynamics.state_space module pyDynaMapp.extern module pyDynaMapp.identification module pyDynaMapp.identification.CVA module pyDynaMapp.identification.IDIM module pyDynaMapp.identification.Kalman module pyDynaMapp.identification.LMI module pyDynaMapp.identification.MOESP_VAR module pyDynaMapp.identification.N4SID_VAR module pyDynaMapp.identification.ORT module pyDynaMapp.identification.PF module pyDynaMapp.models module

pyDynaMapp.models.BLDC module pyDynaMapp.models.harmonic_drive module pyDynaMapp.trajectory module pyDynaMapp.trajectory.fourier module pyDynaMapp.trajectory.spline module pyDynaMapp.trajectory.trajectory module pyDynaMapp.trajectory.trapezoidal module pyDynaMapp.utils module pyDynaMapp.utils.math module pyDynaMapp.utils.robot_data module pyDynaMapp.utils.solver module pyDynaMapp.utils.tools module pyDynaMapp.viscoelastic module pyDynaMapp.viscoelastic.backlash module pyDynaMapp.viscoelastic.cuLugre module pyDynaMapp.viscoelastic.dahl module pyDynaMapp.viscoelastic.lugre module pyDynaMapp.viscoelastic.maxwell module pyDynaMapp.viscoelastic.maxwell_slip module pyDynaMapp.viscoelastic.viscous module

R

rad2deg() (in module pyDynaMapp.utils.tools) Regressor (class in pyDynaMapp.dynamics.regressor) RMSE() (in module pyDynaMapp.utils.math)

Robot (class in pyDynaMapp.dynamics.robot) RobotData (class in pyDynaMapp.utils.robot_data) RobustKalman (class in pyDynaMapp.identification.Kalman)

S

save() (pyDynaMapp.identification.IDIM.IDIM method) save2csv() (pyDynaMapp.trajectory.fourier.FourierGenerator method) saveTrajectory2file() (pyDynaMapp.trajectory.spline.SplineGenerator method) scaleArray() (in module pyDynaMapp.utils.tools) set_lower_bounds() (pyDynaMapp.identification.IDIM.IDIM method) (pyDynaMapp.identification.IDIM.IDIMMLE method) set_maxeval() (pyDynaMapp.identification.IDIM.IDIM method) (pyDynaMapp.identification.IDIM.IDIMMLE method) set_set_min_objective() (pyDynaMapp.identification.IDIM.IDIM method) (pyDynaMapp.identification.IDIM.IDIMMLE method) set_upper_bounds() (pyDynaMapp.identification.IDIM.IDIM method) (pyDynaMapp.identification.IDIM.IDIMMLE method) setIdentificationModelData() (pyDynaMapp.dynamics.robot.Robot method)

setRandomInertiaParams() (pyDynaMapp.dynamics.robot.Robot method) setTrajectoryData() (pyDynaMapp.trajectory.trajectory.TrajectoryGenerator method) simulate() (pyDynaMapp.viscoelastic.maxwell.Maxwell method) smooth_columns() (in module pyDynaMapp.utils.tools) solve_discrete_state_depend_are() (in module pyDynaMapp.utils.solver) solveAlgebraicRiccatiEquation() (in module pyDynaMapp.utils.solver) SplineGenerator (class in pyDynaMapp.trajectory.spline) stabilize() (pyDynaMapp.dynamics.state_space.StateSpace method) state_place_poles() (pyDynaMapp.dynamics.state_space.StateSpace method) StateSpace (class in pyDynaMapp.dynamics.state_space) step() (pyDynaMapp.identification.Kalman.RobustKalman method) stress() (pyDynaMapp.viscoelastic.maxwell.Maxwell method) struct2json() (in module pyDynaMapp.utils.tools)

T

TrajectoryGenerator (class in pyDynaMapp.trajectory.trajectory) transform() (pyDynaMapp.identification.CVA.CVA method)

TrapezoidalGenerator (class in pyDynaMapp.trajectory.trapezoidal) TrapezoidalGenerator() (pyDynaMapp.trajectory.trapezoidal.TrapezoidalGenerator method) trapTraj_PTP() (pyDynaMapp.trajectory.trapezoidal.TrapezoidalGenerator method)

U

update() (pyDynaMapp.identification.Kalman.Kalman method) (pyDynaMapp.identification.Kalman.RobustKalman method) updateActuatorParams() (pyDynaMapp.dynamics.robot.Robot method) updateExternalForces() (pyDynaMapp.dynamics.robot.Robot method)

updateFrictionParams() (pyDynaMapp.dynamics.robot.Robot method) updateInertiaParams() (pyDynaMapp.dynamics.robot.Robot method) updateSamplingRate() (pyDynaMapp.utils.robot_data.RobotData method) updateStateVector() (pyDynaMapp.dynamics.state_space.StateSpace method) updateStiffnessParams() (pyDynaMapp.dynamics.robot.Robot method)

V

visualizeAcceleration() (pyDynaMapp.utils.robot_data.RobotData method) visualizeCorrelation() (pyDynaMapp.utils.robot_data.RobotData method) visualizeCostFunction() (pyDynaMapp.identification.IDIM.IDIMNLS method) visualizeCurrent() (pyDynaMapp.utils.robot_data.RobotData method) visualizeError() (pyDynaMapp.identification.IDIM.IDIMNLS method) visualizeEstimates() (pyDynaMapp.identification.Kalman.Kalman method) visualizePosition() (pyDynaMapp.utils.robot_data.RobotData method) visualizeRelativeError() (pyDynaMapp.identification.IDIM.IDIMNLS method) visualizeResults() (pyDynaMapp.identification.IDIM.IDIMNLS method)

visualizeRootLocus() (pyDynaMapp.dynamics.state_space.StateSpace method) visualizeStatePoles() (pyDynaMapp.dynamics.state_space.StateSpace method) visualizeTorque() (pyDynaMapp.utils.robot_data.RobotData method) visualizeTrajectory() (pyDynaMapp.trajectory.fourier.FourierGenerator method) (pyDynaMapp.trajectory.spline.SplineGenerator method) (pyDynaMapp.trajectory.trapezoidal.TrapezoidalGenerator method) visualizeTrajectoryIdentifiability() (pyDynaMapp.trajectory.fourier.FourierGenerator method) visualizeVelocity() (pyDynaMapp.utils.robot_data.RobotData method) vizulizeOuput() (pyDynaMapp.identification.IDIM.IDIM method)

W

wrap2deg() (in module pyDynaMapp.utils.tools)

wrapArray() (in module pyDynaMapp.utils.tools) wrapXpi() (in module pyDynaMapp.utils.tools)

Y

yaml2dict() (in module pyDynaMapp.utils.tools)