记录下RBDL python的一些命令

因为rbdl是编译安装的，所以点击命令提示，啥都没有，这个问题也不知道怎么解决，只能翻墙找资料，尴尬

定义关节配置信息

q = np.random.rand(rbdl_model.q_size)
qd = np.random.rand(rbdl_model.q_size)
qdd = np.random.rand(rbdl_model.q_size)
tau = np.random.rand(rbdl_model.q_size)
或
q   = np.zeros(shape=(q_size),   dtype=float)
qd  = np.zeros(shape=(qdot_size),dtype=float)
qdd = np.zeros(shape=(qdot_size),dtype=float)
tau = np.zeros(shape=(qdot_size),dtype=float)

逆动力学

rbdl.InverseDynamics(model, q,qd,qdd,tau,fext)

前项动力学

qqq = rbdl.ForwardDynamics(rbdl_model,q,qd,tau,qdd)

加载模型

model = rbdl.Model()

计算坐标系

rbdl.CalcBodyToBaseCoordinates (model, q, body_3, point_local)
rbdl.CalcBaseToBodyCoordinates (model, q, body_3, point_base)

计算雅克比

rbdl.CalcPointJacobian (model, q, body_3, point_local, G)

还有点命令

参见网址

rbdl.InverseDynamics Example

• rbdl.Model

• rbdl.InverseDynamics

• rbdl.ForwardDynamics

• rbdl.CalcPointVelocity

• rbdl.CalcPointJacobian

• rbdl.CalcCenterOfMass

• rbdl.CalcBodyToBaseCoordinates