def shift_gently(sites, mersenne_twister, angle=5):
axis = mersenne_twister.random_double_point_on_sphere()
r = matrix.sqr(
scitbx.math.r3_rotation_axis_and_angle_as_matrix(axis=axis,
angle=angle,
deg=True))
return create_wells(sites=sites, mersenne_twister=mersenne_twister, r=r)
def __init__(O, mersenne_twister, n_sites):
if (n_sites > 0):
O.sites = [matrix.col(mersenne_twister.random_double_point_on_sphere())]
while (len(O.sites) != n_sites):
O.sites.append(O.sites[0]
+ matrix.col(mersenne_twister.random_double_point_on_sphere()))
O.A = joint_lib.spherical_alignment(sites=O.sites)
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = create_wells(sites=O.sites, mersenne_twister=mersenne_twister)
#
qE = matrix.col(mersenne_twister.random_double(size=4)).normalize()
O.J = joint_lib.spherical(type="euler_params", qE=qE)
O.qd = matrix.col(mersenne_twister.random_double(size=3)*2-1)
def __init__(O, mersenne_twister, n_sites):
if (n_sites > 0):
O.sites = [matrix.col(mersenne_twister.random_double_point_on_sphere())]
while (len(O.sites) != n_sites):
O.sites.append(O.sites[0]
+ matrix.col(mersenne_twister.random_double_point_on_sphere()))
O.A = joint_lib.spherical_alignment(sites=O.sites)
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = create_wells(sites=O.sites, mersenne_twister=mersenne_twister)
#
qE = matrix.col(mersenne_twister.random_double(size=4)).normalize()
O.J = joint_lib.spherical(type="euler_params", qE=qE)
O.qd = matrix.col(mersenne_twister.random_double(size=3)*2-1)
def __init__(O, mersenne_twister, prev=None):
if (prev is None):
normal = matrix.col(mersenne_twister.random_double_point_on_sphere())
pivot = matrix.col(mersenne_twister.random_double_point_on_sphere()) * 0.6
else:
normal = prev.A.normal
pivot = prev.A.pivot + normal * 0.3
O.sites = [pivot + normal * (-0.8)]
O.A = joint_lib.revolute_alignment(pivot=pivot, normal=normal)
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = create_wells(sites=O.sites, mersenne_twister=mersenne_twister)
#
O.J = joint_lib.revolute(qE=matrix.col([math.pi/8]))
O.qd = matrix.col([math.pi/12])
def __init__(O, mersenne_twister, prev=None):
if (prev is None):
normal = matrix.col(mersenne_twister.random_double_point_on_sphere())
pivot = matrix.col(mersenne_twister.random_double_point_on_sphere()) * 0.6
else:
normal = prev.A.normal
pivot = prev.A.pivot + normal * 0.3
O.sites = [pivot + normal * (-0.8)]
O.A = joint_lib.revolute_alignment(pivot=pivot, normal=normal)
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = create_wells(sites=O.sites, mersenne_twister=mersenne_twister)
#
O.J = joint_lib.revolute(qE=matrix.col([math.pi/8]))
O.qd = matrix.col([math.pi/12])
def __init__(O, six_dof_type, r_is_qr, mersenne_twister):
O.sites_F0 = create_triangle_with_random_center_of_mass(
mersenne_twister=mersenne_twister)
O.A = joint_lib.six_dof_alignment(sites=O.sites_F0)
O.I_spatial = spatial_inertia_from_sites(
sites=O.sites_F0, alignment_T=O.A.T0b)
#
O.wells = test_utils.create_wells(
sites=O.sites_F0, mersenne_twister=mersenne_twister)
#
qE = matrix.col(mersenne_twister.random_double(size=4)).normalize()
qr = matrix.col(mersenne_twister.random_double(size=3)-0.5)
if (r_is_qr):
qr = joint_lib.RBDA_Eq_4_12(qE).transpose() * qr
O.J = joint_lib.six_dof(type=six_dof_type, qE=qE, qr=qr, r_is_qr=r_is_qr)
O.qd = matrix.col(mersenne_twister.random_double(size=6)*2-1)
#
O.energies_and_accelerations_update()
def __init__(O, six_dof_type, r_is_qr, mersenne_twister):
O.sites_F0 = create_triangle_with_random_center_of_mass(
mersenne_twister=mersenne_twister)
O.A = joint_lib.six_dof_alignment(sites=O.sites_F0)
O.I_spatial = spatial_inertia_from_sites(
sites=O.sites_F0, alignment_T=O.A.T0b)
#
O.wells = test_utils.create_wells(
sites=O.sites_F0, mersenne_twister=mersenne_twister)
#
qE = matrix.col(mersenne_twister.random_double(size=4)).normalize()
qr = matrix.col(mersenne_twister.random_double(size=3)-0.5)
if (r_is_qr):
qr = joint_lib.RBDA_Eq_4_12(qE).transpose() * qr
O.J = joint_lib.six_dof(type=six_dof_type, qE=qE, qr=qr, r_is_qr=r_is_qr)
O.qd = matrix.col(mersenne_twister.random_double(size=6)*2-1)
#
O.energies_and_accelerations_update()
def shift_gently(sites, mersenne_twister, angle=5):
axis = mersenne_twister.random_double_point_on_sphere()
r = matrix.sqr(scitbx.math.r3_rotation_axis_and_angle_as_matrix(
axis=axis, angle=angle, deg=True))
return create_wells(sites=sites, mersenne_twister=mersenne_twister, r=r)
