Module ImportFrom alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Import alias Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore BinOpMult NameLoad BinOpPow NameLoad Num Assign NameStore AttributeLoad Call NameLoad ListLoad BinOpMult UnaryOpUSub NameLoad NameLoad Num attr Assign NameStore NameLoad Assign NameStore NameLoad If NameLoad body Print Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad NameLoad attr Str Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr Str TupleLoad Num Num Assign NameStore Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Str Assign NameStore Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Str Assign NameStore Call AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr Str Assign NameStore Call AttributeLoad NameLoad attr ListLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr Str TupleLoad Num Num Print Str Assign NameStore Call AttributeLoad NameLoad attr BinOpMult NameLoad Call AttributeLoad NameLoad attr Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Assign NameStore UnaryOpUSub NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Num Num Assign NameStore Call AttributeLoad NameLoad attr ListLoad ListLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad ListLoad UnaryOpUSub Call AttributeLoad NameLoad attr NameLoad UnaryOpUSub Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr ListLoad ListLoad UnaryOpUSub NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad ListLoad NameLoad NameLoad ListLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad ListLoad NameLoad NameLoad ListLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad ListLoad NameLoad ListLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr ListLoad ListLoad NameLoad ListLoad NameLoad Assign NameStore BinOpMult Call AttributeLoad NameLoad attr BinOpSub BinOpMult NameLoad NameLoad BinOpAdd BinOpMult NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad ListLoad NameLoad NameLoad NameLoad AttributeLoad Call NameLoad NameLoad attr Assign NameStore Call NameLoad ListLoad AttributeLoad Call NameLoad NameLoad attr AttributeLoad Call NameLoad NameLoad attr AttributeLoad Call NameLoad NameLoad attr Print Str Assign NameStore Call NameLoad ListLoad NameLoad NameLoad NameLoad AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Print Str Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Print Str Assign NameStore Call AttributeLoad NameLoad attr With Call NameLoad BinOpAdd NameLoad Str Str NameStore body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad With Call NameLoad BinOpAdd NameLoad Str Str NameStore body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad With Call NameLoad BinOpAdd NameLoad Str Str NameStore body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad With Call NameLoad BinOpAdd NameLoad Str Str NameStore body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad orelse Print Str Assign NameStore Call AttributeLoad NameLoad attr With Call NameLoad BinOpAdd NameLoad Str Str NameStore body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr With Call NameLoad BinOpAdd NameLoad Str Str NameStore body Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr With Call NameLoad BinOpAdd NameLoad Str Str NameStore body Assign NameStore Call AttributeLoad Call NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr attr With Call NameLoad BinOpAdd NameLoad Str Str NameStore body Assign NameStore Call AttributeLoad Call NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr attr Print Str Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad Print Str FunctionDef arguments args NameParam defaults body Assign NameStore AttributeLoad Call NameLoad ListLoad Call AttributeLoad NameLoad attr Num Call AttributeLoad NameLoad attr Num attr Assign NameStore Call AttributeLoad NameLoad attr Num Assign NameStore AttributeLoad Call NameLoad ListLoad Call AttributeLoad NameLoad attr Num Call AttributeLoad NameLoad attr Num attr Assign NameStore Call AttributeLoad NameLoad attr Num Assign NameStore AttributeLoad Call NameLoad ListLoad Call AttributeLoad NameLoad attr Num Call AttributeLoad NameLoad attr Num NameLoad attr Assign NameStore AttributeLoad Call NameLoad ListLoad Call AttributeLoad NameLoad attr Num Call AttributeLoad NameLoad attr Num NameLoad attr Return TupleLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad BinOpMult NameLoad Call NameLoad Num Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore UnaryOpUSub NameLoad Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore Call NameLoad ListLoad ListLoad Call NameLoad NameLoad Call NameLoad NameLoad ListLoad UnaryOpUSub Call NameLoad NameLoad UnaryOpUSub Call NameLoad NameLoad Assign NameStore Call NameLoad ListLoad ListLoad UnaryOpUSub NameLoad NameLoad Assign NameStore Call NameLoad ListLoad ListLoad NameLoad NameLoad ListLoad NameLoad NameLoad Assign NameStore Call NameLoad ListLoad ListLoad NameLoad NameLoad ListLoad NameLoad NameLoad Assign NameStore Call NameLoad ListLoad ListLoad NameLoad ListLoad NameLoad Assign NameStore Call NameLoad ListLoad ListLoad NameLoad ListLoad NameLoad Return TupleLoad NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad ListLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad SubscriptLoad NameLoad ExtSlice Index NameLoad Slice Assign NameStore Call NameLoad Call AttributeLoad NameLoad attr NameLoad SubscriptLoad NameLoad ExtSlice Index NameLoad Slice Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore Call NameLoad Call NameLoad Num Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore Call NameLoad Call NameLoad TupleLoad Num Num Assign NameStore BinOpMult AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad ListLoad ListLoad NameLoad NameLoad ListLoad NameLoad NameLoad Assign NameStore Call NameLoad ListLoad ListLoad NameLoad ListLoad NameLoad Return TupleLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore BinOpMult AttributeLoad NameLoad attr BinOpSub UnaryOpUSub NameLoad BinOpMult NameLoad NameLoad Assign NameStore BinOpMult AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd NameLoad BinOpMult NameLoad NameLoad Assign NameStore Call NameLoad ListLoad ListLoad NameLoad ListLoad NameLoad Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Num Assign NameStore Call NameLoad NameLoad Assign NameStore SubscriptLoad NameLoad Index TupleLoad Call NameLoad SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad Call NameLoad SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad Assign NameStore SubscriptLoad NameLoad Index TupleLoad Call NameLoad SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad Call NameLoad SubscriptLoad NameLoad ExtSlice Slice Index Num NameLoad Assign NameStore BinOpSub BinOpMult NameLoad NameLoad AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr NameLoad keyword Num Assign NameStore BinOpSub Call NameLoad SubscriptLoad NameLoad ExtSlice Slice Index Num SubscriptLoad NameLoad ExtSlice Slice Index Num BinOpDiv NameLoad Num Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr SubscriptLoad NameLoad Index CompareGt NameLoad NameLoad SubscriptLoad NameLoad Index CompareGt NameLoad NameLoad keyword Str Assign NameStore Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Return TupleLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad TupleLoad NameLoad Num For NameStore Call NameLoad Call NameLoad NameLoad body Assign NameStore AttributeLoad Call NameLoad ListLoad SubscriptLoad NameLoad Index TupleLoad NameLoad Num SubscriptLoad NameLoad Index TupleLoad NameLoad Num SubscriptLoad NameLoad Index NameLoad attr Assign NameStore AttributeLoad Call NameLoad ListLoad SubscriptLoad NameLoad Index TupleLoad NameLoad Num SubscriptLoad NameLoad Index TupleLoad NameLoad Num SubscriptLoad NameLoad Index NameLoad attr Assign NameStore AttributeLoad Call NameLoad ListLoad SubscriptLoad NameLoad Index TupleLoad NameLoad Num SubscriptLoad NameLoad Index TupleLoad NameLoad Num SubscriptLoad NameLoad Index NameLoad attr Assign NameStore Call NameLoad ListLoad ListLoad NameLoad ListLoad NameLoad Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad NameLoad Assign NameStore BinOpMult AttributeLoad NameLoad attr BinOpSub UnaryOpUSub NameLoad BinOpMult NameLoad NameLoad Assign NameStore BinOpMult AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpMult NameLoad BinOpSub NameLoad NameLoad Assign SubscriptStore NameLoad ExtSlice Index NameLoad Slice AttributeLoad NameLoad attr Return NameLoad decorator_list
N/A pylab * N/A matplotlib.animation N/A scipy.interpolate N/A scipy.integrate N/A sklearn N/A sklearn.preprocessing N/A control N/A transformations N/A sympy N/A sympy.matrices N/A sympy.physics N/A sympy.physics.mechanics N/A sympy.physics.mechanics.functions N/A trigutils N/A sympyutils N/A pathutils N/A m 1.0 N/A g 9.8 N/A d 1.0 N/A I N/A m N/A d 2.0 N/A f_gravity_world N/A N/A matrix N/A N/A N/A m g 0 T N/A f_external_world f_gravity_world N/A construct_sympy_expressions False N/A construct_sympy_expressions N/A N/A Constructing sympy symbols... N/A d_expr N/A N/A sympy Symbol d N/A m_expr N/A N/A sympy Symbol m N/A I_expr N/A N/A sympy Symbol I N/A N/A f_external_expr f_external_expr_entries N/A N/A sympyutils construct_matrix_and_entries f_e N/A 2 1 N/A t_expr N/A N/A sympy Symbol t N/A p_y_expr N/A N/A N/A N/A sympy physics mechanics dynamicsymbols p_y N/A p_x_expr N/A N/A N/A N/A sympy physics mechanics dynamicsymbols p_x N/A theta_expr N/A N/A N/A N/A sympy physics mechanics dynamicsymbols theta N/A q_expr N/A N/A sympy Matrix N/A p_y_expr p_x_expr theta_expr N/A q_dot_expr N/A N/A q_expr diff t_expr N/A N/A u_expr u_expr_entries N/A N/A sympyutils construct_matrix_and_entries u N/A 2 1 N/A Constructing sympy expressions... N/A H_00_expr N/A N/A sympy Matrix N/A m_expr N/A N/A sympy eye 2 N/A H_01_expr N/A N/A N/A sympy Matrix zeros 2 1 N/A H_10_expr N/A N/A N/A sympy Matrix zeros 1 2 N/A H_11_expr N/A N/A sympy Matrix N/A I_expr N/A C_00_expr N/A N/A N/A sympy Matrix zeros 2 2 N/A C_01_expr N/A N/A N/A sympy Matrix zeros 2 1 N/A C_10_expr N/A N/A N/A sympy Matrix zeros 1 2 N/A C_11_expr N/A N/A N/A sympy Matrix zeros 1 1 N/A G_0_expr N/A f_external_expr N/A G_1_expr N/A N/A N/A sympy Matrix zeros 1 1 N/A B_0_expr N/A N/A sympy Matrix N/A N/A N/A N/A sympy cos theta_expr N/A N/A sympy cos theta_expr N/A N/A N/A N/A sympy sin theta_expr N/A N/A N/A sympy sin theta_expr N/A B_1_expr N/A N/A sympy Matrix N/A N/A N/A d_expr d_expr N/A H_expr N/A N/A sympyutils construct_matrix_from_block_matrix N/A N/A sympy Matrix N/A N/A H_00_expr H_01_expr N/A H_10_expr H_11_expr N/A C_expr N/A N/A sympyutils construct_matrix_from_block_matrix N/A N/A sympy Matrix N/A N/A C_00_expr C_01_expr N/A C_10_expr C_11_expr N/A G_expr N/A N/A sympyutils construct_matrix_from_block_matrix N/A N/A sympy Matrix N/A N/A G_0_expr N/A G_1_expr N/A B_expr N/A N/A sympyutils construct_matrix_from_block_matrix N/A N/A sympy Matrix N/A N/A B_0_expr N/A B_1_expr N/A q_dot_dot_expr N/A N/A N/A H_expr inv N/A N/A B_expr u_expr N/A N/A C_expr q_dot_expr G_expr N/A dqdotdot_dq_expr N/A N/A q_dot_dot_expr jacobian q_expr N/A dqdotdot_dqdot_expr N/A N/A q_dot_dot_expr jacobian q_dot_expr N/A const_syms N/A hstack N/A d_expr m_expr I_expr N/A N/A matrix f_external_expr A1 N/A x_and_u_syms N/A hstack N/A N/A N/A matrix q_expr A1 N/A N/A matrix q_dot_expr A1 N/A N/A matrix u_expr A1 N/A Substituting physical constants into sympy expressions... N/A const_vals N/A hstack N/A d m I N/A f_external_world A1 N/A const_subs N/A dict N/A zip const_syms const_vals N/A dqdotdot_dq_expr N/A N/A sympyutils nsimplify_matrix N/A N/A dqdotdot_dq_expr subs const_subs N/A dqdotdot_dqdot_expr N/A N/A sympyutils nsimplify_matrix N/A N/A dqdotdot_dqdot_expr subs const_subs N/A Dummifying sympy expressions... N/A N/A dqdotdot_dq_expr_dummy dqdotdot_dq_expr_dummy_syms N/A N/A sympyutils dummify dqdotdot_dq_expr x_and_u_syms N/A N/A dqdotdot_dqdot_expr_dummy dqdotdot_dqdot_expr_dummy_syms N/A N/A sympyutils dummify dqdotdot_dqdot_expr x_and_u_syms N/A Saving sympy expressions... N/A current_source_file_path N/A N/A pathutils get_current_source_file_path N/A N/A open N/A current_source_file_path /data/sympy/quadrotor2d_dqdotdot_dq_expr_dummy.dat w f N/A N/A N/A N/A f write N/A N/A sympy srepr dqdotdot_dq_expr_dummy N/A N/A open N/A current_source_file_path /data/sympy/quadrotor2d_dqdotdot_dqdot_expr_dummy.dat w f N/A N/A N/A N/A f write N/A N/A sympy srepr dqdotdot_dqdot_expr_dummy N/A N/A open N/A current_source_file_path /data/sympy/quadrotor2d_dqdotdot_dq_expr_dummy_syms.dat w f N/A N/A N/A N/A f write N/A N/A sympy srepr N/A N/A sympy Matrix dqdotdot_dq_expr_dummy_syms N/A N/A open N/A current_source_file_path /data/sympy/quadrotor2d_dqdotdot_dqdot_expr_dummy_syms.dat w f N/A N/A N/A N/A f write N/A N/A sympy srepr N/A N/A sympy Matrix dqdotdot_dqdot_expr_dummy_syms N/A N/A Loading sympy expressions... N/A current_source_file_path N/A N/A pathutils get_current_source_file_path N/A N/A open N/A current_source_file_path /data/sympy/quadrotor2d_dqdotdot_dq_expr_dummy.dat r f N/A N/A dqdotdot_dq_expr_dummy N/A N/A sympy sympify N/A N/A f read N/A N/A open N/A current_source_file_path /data/sympy/quadrotor2d_dqdotdot_dqdot_expr_dummy.dat r f N/A N/A dqdotdot_dqdot_expr_dummy N/A N/A sympy sympify N/A N/A f read N/A N/A open N/A current_source_file_path /data/sympy/quadrotor2d_dqdotdot_dq_expr_dummy_syms.dat r f N/A N/A dqdotdot_dq_expr_dummy_syms N/A N/A N/A array N/A N/A sympy sympify N/A N/A f read squeeze N/A N/A open N/A current_source_file_path /data/sympy/quadrotor2d_dqdotdot_dqdot_expr_dummy_syms.dat r f N/A N/A dqdotdot_dqdot_expr_dummy_syms N/A N/A N/A array N/A N/A sympy sympify N/A N/A f read squeeze N/A Compiling sympy functions... N/A dqdotdot_dq_anon_funcs_ufuncify N/A N/A sympyutils construct_matrix_anon_funcs_ufuncify dqdotdot_dq_expr_dummy dqdotdot_dq_expr_dummy_syms N/A dqdotdot_dqdot_anon_funcs_ufuncify N/A N/A sympyutils construct_matrix_anon_funcs_ufuncify dqdotdot_dqdot_expr_dummy dqdotdot_dqdot_expr_dummy_syms N/A Finished compiling sympy functions. unpack_state N/A N/A x N/A N/A N/A p N/A N/A matrix N/A N/A N/A x item 0 N/A N/A x item 1 T N/A theta N/A N/A x item 2 N/A p_dot N/A N/A matrix N/A N/A N/A x item 3 N/A N/A x item 4 T N/A theta_dot N/A N/A x item 5 N/A q N/A N/A matrix N/A N/A N/A p item 0 N/A N/A p item 1 theta T N/A q_dot N/A N/A matrix N/A N/A N/A p_dot item 0 N/A N/A p_dot item 1 theta_dot T N/A N/A p theta p_dot theta_dot q q_dot N/A compute_manipulator_matrices N/A N/A x N/A N/A N/A N/A p theta p_dot theta_dot q q_dot N/A unpack_state x N/A H_00 N/A matrix N/A m N/A identity 2 N/A H_01 N/A matrix N/A zeros N/A 2 1 N/A H_10 N/A matrix N/A zeros N/A 1 2 N/A H_11 N/A matrix I N/A C_00 N/A matrix N/A zeros N/A 2 2 N/A C_01 N/A matrix N/A zeros N/A 2 1 N/A C_10 N/A matrix N/A zeros N/A 1 2 N/A C_11 N/A matrix N/A zeros N/A 1 1 N/A G_0 N/A f_external_world N/A G_1 N/A matrix N/A zeros N/A 1 1 N/A B_0 N/A matrix N/A N/A N/A cos theta N/A cos theta N/A N/A N/A sin theta N/A N/A sin theta N/A B_1 N/A matrix N/A N/A N/A d d N/A H N/A bmat N/A N/A H_00 H_01 N/A H_10 H_11 N/A C N/A bmat N/A N/A C_00 C_01 N/A C_10 C_11 N/A G N/A bmat N/A N/A G_0 N/A G_1 N/A B N/A bmat N/A N/A B_0 N/A B_1 N/A N/A H C G B N/A compute_manipulator_matrix_derivatives N/A N/A x u N/A N/A N/A N/A p theta p_dot theta_dot q q_dot N/A unpack_state x N/A x_and_u_vals N/A hstack N/A N/A q A1 N/A q_dot A1 N/A u A1 N/A dqdotdot_dq N/A matrix N/A N/A sympyutils evaluate_matrix_anon_funcs dqdotdot_dq_anon_funcs_ufuncify N/A x_and_u_vals N/A N/A newaxis N/A N/A dqdotdot_dqdot N/A matrix N/A N/A sympyutils evaluate_matrix_anon_funcs dqdotdot_dqdot_anon_funcs_ufuncify N/A x_and_u_vals N/A N/A newaxis N/A N/A N/A dqdotdot_dq dqdotdot_dqdot N/A compute_df_dx_and_df_du N/A N/A x u N/A N/A N/A N/A H C G B N/A compute_manipulator_matrices x N/A N/A dqdotdot_dq dqdotdot_dqdot N/A compute_manipulator_matrix_derivatives x u N/A dqdot_dq N/A matrix N/A zeros N/A 3 3 N/A dqdot_dqdot N/A matrix N/A identity 3 N/A dqdotdot_dq dqdotdot_dq N/A dqdotdot_dqdot dqdotdot_dqdot N/A dqdot_du N/A matrix N/A zeros N/A 3 2 N/A dqdotdot_du N/A N/A H I B N/A df_dx N/A bmat N/A N/A dqdot_dq dqdot_dqdot N/A dqdotdot_dq dqdotdot_dqdot N/A df_du N/A bmat N/A N/A dqdot_du N/A dqdotdot_du N/A N/A df_dx df_du N/A compute_x_dot N/A N/A x u N/A N/A N/A N/A p theta p_dot theta_dot q q_dot N/A unpack_state x N/A N/A H C G B N/A compute_manipulator_matrices x N/A f1 N/A N/A H I N/A N/A G N/A C q_dot N/A f2 N/A N/A H I B N/A q_dot_dot N/A f1 N/A f2 u N/A x_dot N/A bmat N/A N/A q_dot N/A q_dot_dot N/A x_dot N/A compute_state_space_trajectory_and_derivatives N/A N/A p dt N/A N/A N/A f_thrust_world_norm_threshold 0.01 N/A num_timesteps N/A len p N/A p_dot N/A c_ N/A N/A N/A gradient N/A p N/A N/A N/A 0 dt N/A gradient N/A p N/A N/A N/A 1 dt N/A p_dot_dot N/A c_ N/A N/A N/A gradient N/A p_dot N/A N/A N/A 0 dt N/A gradient N/A p_dot N/A N/A N/A 1 dt N/A f_thrust_world N/A N/A m p_dot_dot N/A N/A f_external_world T A N/A f_thrust_world_norm N/A N/A linalg norm f_thrust_world axis 1 N/A theta_raw N/A N/A arctan2 N/A f_thrust_world N/A N/A N/A 0 N/A f_thrust_world N/A N/A N/A 1 N/A pi 2.0 N/A t_tmp N/A arange num_timesteps N/A theta_func N/A N/A N/A scipy interpolate interp1d N/A t_tmp N/A N/A f_thrust_world_norm f_thrust_world_norm_threshold N/A theta_raw N/A N/A f_thrust_world_norm f_thrust_world_norm_threshold kind linear N/A theta N/A theta_func t_tmp N/A theta N/A N/A trigutils compute_continuous_angle_array theta N/A theta_dot N/A gradient theta dt N/A theta_dot_dot N/A gradient theta_dot dt N/A N/A p p_dot p_dot_dot theta theta_dot theta_dot_dot N/A compute_control_trajectory N/A N/A q_q_dot_q_dot_dot N/A N/A N/A N/A p p_dot p_dot_dot theta theta_dot theta_dot_dot q_q_dot_q_dot_dot N/A num_timesteps N/A len p N/A u N/A zeros N/A num_timesteps 2 N/A ti N/A range N/A int num_timesteps N/A N/A q_ti N/A N/A matrix N/A N/A p N/A N/A ti 0 N/A p N/A N/A ti 1 N/A theta N/A ti T N/A q_dot_ti N/A N/A matrix N/A N/A p_dot N/A N/A ti 0 N/A p_dot N/A N/A ti 1 N/A theta_dot N/A ti T N/A q_dot_dot_ti N/A N/A matrix N/A N/A p_dot_dot N/A N/A ti 0 N/A p_dot_dot N/A N/A ti 1 N/A theta_dot_dot N/A ti T N/A x_ti N/A bmat N/A N/A q_ti N/A q_dot_ti N/A N/A H C G B N/A compute_manipulator_matrices x_ti N/A f1 N/A N/A H I N/A N/A G N/A C q_dot_ti N/A f2 N/A N/A H I B N/A f2_pinv N/A N/A linalg pinv f2 N/A u_ti N/A f2_pinv N/A q_dot_dot_ti f1 N/A N/A u N/A N/A ti N/A N/A u_ti T N/A u N/A