def test_benchmark_to_canonical():
M, C1, K0, K2 = dtkbicycle.benchmark_matrices()
par = dtkbicycle.benchmark_parameters()
bpM, bpC1, bpK0, bpK2 = bicycle.benchmark_par_to_canonical(par)
nptest.assert_allclose(M, bpM)
nptest.assert_allclose(C1, bpC1)
nptest.assert_allclose(K0, bpK0)
nptest.assert_allclose(K2, bpK2)
def test_benchmark_to_canonical():
M, C1, K0, K2 = dtkbicycle.benchmark_matrices()
par = dtkbicycle.benchmark_parameters()
bpM, bpC1, bpK0, bpK2 = bicycle.benchmark_par_to_canonical(par)
nptest.assert_allclose(M, bpM)
nptest.assert_allclose(C1, bpC1)
nptest.assert_allclose(K0, bpK0)
nptest.assert_allclose(K2, bpK2)
N,
q_ind=[q1, q2, q4],
u_ind=[u2, u4, u5],
kd_eqs=kinematical,
q_dependent=[q3],
configuration_constraints=holonomic,
u_dependent=[u1, u3, u6],
velocity_constraints=nonholonomic,
)
# reminder: u1--yaw rate, u2--roll rate, u3--pitch rate, u4--steer rate, u5--rear wheel ang. vel., u6--front wheel ang. vel.
# kane.kindiffeq(kinematical)
(fr, frstar) = kane.kanes_equations(forceList, bodyList)
kdd = kane.kindiffdict()
bp = bi.benchmark_parameters()
mp = bi.benchmark_to_moore(bp)
rr = bp["rR"]
lam = bp["lam"]
basu_input = bi.basu_table_one_input()
mo_in = bi.basu_to_moore_input(basu_input, rr, lam)
# not include the l1, l2, mc and ic because of the rider
# which will be added into instrumented bicycle later.
para_dict = {
l1: mp["l1"],
l2: mp["l2"],
[q3, q4, q7], # yaw, roll, steer
[u4, u6, u7], # roll rate, rear wheel rate, steer rate
kd_eqs=kinematical,
q_dependent=[q5], # pitch angle
configuration_constraints=[holonomic],
u_dependent=[u3, u5, u8], # yaw rate, pitch rate, front wheel rate
velocity_constraints=nonholonomic)
fr, frstar = kane.kanes_equations(forces, bodies)
# Validation of non-linear equations
print('Loading numerical input parameters.')
from dtk import bicycle
bp = bicycle.benchmark_parameters()
mp = bicycle.benchmark_to_moore(bp)
# load the input values specified in table one of Basu-Mandal2007
basu_input = bicycle.basu_table_one_input()
# convert the values to my coordinates and speeds
moore_input = bicycle.basu_to_moore_input(basu_input, bp['rR'], bp['lam'])
constant_substitutions = {}
for k, v in mp.items():
try:
exec('constant_substitutions[{}] = v'.format(k))
except NameError:
pass
dynamic_substitutions = {}
[q3, q4, q7], # yaw, roll, steer
[u4, u6, u7], # roll rate, rear wheel rate, steer rate
kd_eqs=kinematical,
q_dependent=[q5], # pitch angle
configuration_constraints=[holonomic],
u_dependent=[u3, u5, u8], # yaw rate, pitch rate, front wheel rate
velocity_constraints=nonholonomic)
fr, frstar = kane.kanes_equations(forces, bodies)
# Validation of non-linear equations
print('Loading numerical input parameters.')
from dtk import bicycle
bp = bicycle.benchmark_parameters()
mp = bicycle.benchmark_to_moore(bp)
# load the input values specified in table one of Basu-Mandal2007
basu_input = bicycle.basu_table_one_input()
# convert the values to my coordinates and speeds
moore_input = bicycle.basu_to_moore_input(basu_input, bp['rR'],
bp['lam'])
constant_substitutions = {}
for k, v in mp.items():
try:
exec('constant_substitutions[{}] = v'.format(k))
except NameError:
pass