Beispiel #1
0
 def e_pot_and_f_ext_update(O):
     O.AJA_accu = []
     O.e_pot = 0
     O.f_ext_bf = []
     for B in O.bodies:
         AJA = B.A.Tb0 * B.J.Tsp * B.A.T0b
         if (B.parent == -1):
             AJA_tree = None
         else:
             AJA_tree = O.AJA_accu[B.parent]
             AJA = AJA_tree * AJA
         O.AJA_accu.append(AJA)
         e_pot_bf = test_utils.potential_energy_bf(sites=B.sites,
                                                   wells=B.wells,
                                                   A=B.A,
                                                   J=B.J,
                                                   AJA_tree=AJA_tree)
         f_ext_using_bf = test_utils.potential_f_ext_bf(sites=B.sites,
                                                        wells=B.wells,
                                                        A=B.A,
                                                        J=B.J,
                                                        AJA_tree=AJA_tree)
         O.f_ext_bf.append(f_ext_using_bf)
         O.e_pot += e_pot_bf
     O.e_tot = O.e_kin + O.e_pot
 def e_pot_and_f_ext_update(O):
   O.AJA_accu = []
   O.e_pot = 0
   O.f_ext_ff = []
   O.f_ext_bf = []
   for B in O.bodies:
     AJA = B.A.Tb0 * B.J.Tsp * B.A.T0b
     if (B.parent == -1):
       AJA_tree = None
     else:
       AJA_tree = O.AJA_accu[B.parent]
       AJA = AJA_tree * AJA
     O.AJA_accu.append(AJA)
     e_pot_ff = test_utils.potential_energy(
       sites=B.sites, wells=B.wells, A=B.A, J=B.J, AJA_tree=AJA_tree)
     e_pot_bf = test_utils.potential_energy_bf(
       sites=B.sites, wells=B.wells, A=B.A, J=B.J, AJA_tree=AJA_tree)
     assert approx_equal(e_pot_bf, e_pot_ff)
     f_ext_using_ff = test_utils.potential_f_ext_ff(
       sites=B.sites, wells=B.wells, A=B.A, J=B.J, AJA_tree=AJA_tree)
     f_ext_using_bf = test_utils.potential_f_ext_bf(
       sites=B.sites, wells=B.wells, A=B.A, J=B.J, AJA_tree=AJA_tree)
     O.f_ext_ff.append(f_ext_using_ff)
     O.f_ext_bf.append(f_ext_using_bf)
     O.e_pot += e_pot_ff
   O.e_tot = O.e_kin + O.e_pot
Beispiel #3
0
 def energies_and_accelerations_update(O):
   if (O.J.S is None):
     v_spatial = O.qd
   else:
     v_spatial = O.J.S * O.qd
   O.e_kin = kinetic_energy(I_spatial=O.I_spatial, v_spatial=v_spatial)
   O.e_pot = test_utils.potential_energy(
     sites=O.sites_F0, wells=O.wells, A=O.A, J=O.J)
   f_ext_ff = test_utils.potential_f_ext_ff(
     sites=O.sites_F0, wells=O.wells, A=O.A, J=O.J)
   O.e_tot = O.e_kin + O.e_pot
   #
   e_pot_bf = test_utils.potential_energy_bf(
     sites=O.sites_F0, wells=O.wells, A=O.A, J=O.J)
   assert approx_equal(e_pot_bf, O.e_pot)
   f_ext_bf = test_utils.potential_f_ext_bf(
     sites=O.sites_F0, wells=O.wells, A=O.A, J=O.J)
   #
   model = featherstone_system_model(I=O.I_spatial, A=O.A, J=O.J)
   #
   q = [None] # already stored in joint as qE and qr
   qd = [O.qd]
   tau = None
   grav_accn = [0,0,0]
   qdd_using_f_ext_ff = featherstone.FDab(
     model, q, qd, tau, [f_ext_ff], grav_accn, f_ext_in_ff=True)
   qdd_using_f_ext_bf = featherstone.FDab(
     model, q, qd, tau, [f_ext_bf], grav_accn, f_ext_in_ff=False)
   assert approx_equal(qdd_using_f_ext_bf, qdd_using_f_ext_ff)
   O.f_ext_bf = f_ext_bf
   O.qdd = qdd_using_f_ext_bf[0]
 def energies_and_accelerations_update(O):
   if (O.J.S is None):
     v_spatial = O.qd
   else:
     v_spatial = O.J.S * O.qd
   O.e_kin = kinetic_energy(I_spatial=O.I_spatial, v_spatial=v_spatial)
   O.e_pot = test_utils.potential_energy(
     sites=O.sites_F0, wells=O.wells, A=O.A, J=O.J)
   f_ext_ff = test_utils.potential_f_ext_ff(
     sites=O.sites_F0, wells=O.wells, A=O.A, J=O.J)
   O.e_tot = O.e_kin + O.e_pot
   #
   e_pot_bf = test_utils.potential_energy_bf(
     sites=O.sites_F0, wells=O.wells, A=O.A, J=O.J)
   assert approx_equal(e_pot_bf, O.e_pot)
   f_ext_bf = test_utils.potential_f_ext_bf(
     sites=O.sites_F0, wells=O.wells, A=O.A, J=O.J)
   #
   model = featherstone_system_model(I=O.I_spatial, A=O.A, J=O.J)
   #
   q = [None] # already stored in joint as qE and qr
   qd = [O.qd]
   tau = None
   grav_accn = [0,0,0]
   qdd_using_f_ext_ff = featherstone.FDab(
     model, q, qd, tau, [f_ext_ff], grav_accn, f_ext_in_ff=True)
   qdd_using_f_ext_bf = featherstone.FDab(
     model, q, qd, tau, [f_ext_bf], grav_accn, f_ext_in_ff=False)
   assert approx_equal(qdd_using_f_ext_bf, qdd_using_f_ext_ff)
   O.f_ext_bf = f_ext_bf
   O.qdd = qdd_using_f_ext_bf[0]