unittest/python/crocoddyl/state.py
def integrate(self, x, dx):
        """ Integrate the current robot's state.

        :param x: current state
        :param dx: displacement of the state
        :return x [+] dx value
        """
        nq, nv, nx, ndx = self.model.nq, self.model.nv, self.nx, self.ndx
        assert (x.shape == (nx, ) and dx.shape == (ndx, ))
        q = x[:nq]
        v = x[-nv:]
        dq = dx[:nv]
        dv = dx[-nv:]
        qn = pinocchio.integrate(self.model, a2m(q), a2m(dq))
        return np.concatenate([qn.flat, v + dv])
 Integrate the current robot's state.

        :param x: current state
        :param dx: displacement of the state
        :return x [+] dx value
        
Integrate the current robot's state.
Integrate the current robot ' s state .
def integrate(self, x, dx):
        nq, nv, nx, ndx = self.model.nq, self.model.nv, self.nx, self.ndx
        assert (x.shape == (nx, ) and dx.shape == (ndx, ))
        q = x[:nq]
        v = x[-nv:]
        dq = dx[:nv]
        dv = dx[-nv:]
        qn = pinocchio.integrate(self.model, a2m(q), a2m(dq))
        return np.concatenate([qn.flat, v + dv])
def integrate ( self , x , dx ) : nq , nv , nx , ndx = self . model . nq , self . model . nv , self . nx , self . ndx assert ( x . shape == ( nx , ) and dx . shape == ( ndx , ) ) q = x [ : nq ] v = x [ - nv : ] dq = dx [ : nv ] dv = dx [ - nv : ] qn = pinocchio . integrate ( self . model , a2m ( q ) , a2m ( dq ) ) return np . concatenate ( [ qn . flat , v + dv ] )
Integrate the current robot's state.
Integrate the current robot ' s state .
""" Integrate the current robot's state.

        :param x: current state
        :param dx: displacement of the state
        :return x [+] dx value
        """
self
x
dx