def connect(self, state, derivatives, mass):
Variable.connect(self, state, derivatives, mass)
self.state[0: 9] = self.rotation_matrix.ravel()
self.rotation_matrix = numpy.reshape(self.state[0: 9], (3,3))
self.state[9: 12] = self.translation_vector
self.translation_vector = self.state[9: 12]
self.mass[0: 9] = self.inertia_tensor.ravel()
self.inertia_tensor = numpy.reshape(self.mass[0: 9], (3,3))
self.mass[9: 12] = self.inertia_mass
self.inertia_mass = self.mass[9: 12]
def create_all_possible_state_variables(symbols, static_symbols, type_map):
""" Creates an index with all possible state variables """
variables = IndexDictionary()
for symbol in symbols.values():
name = symbol.name
if is_external(
name
) or name in static_symbols: # The symbol won't yield any state variable
continue
instantiations = [type_map[t] for t in symbol.arguments]
for instantiation in itertools.product(*instantiations):
variables.add(Variable(symbol.name, instantiation))
return variables
def connect(self, state, derivatives, mass):
Variable.connect(self, state, derivatives, mass)
self.state[:] = self.translation_vector
self.translation_vector = self.state
self.mass[:] = self.inertia_mass
self.inertia_mass = self.mass
def sanity_check(self):
Variable.sanity_check(self)
if self.translation_vector.shape != (3,):
raise SanityError("The translation_vector must be a vector of length 3. The given array has shape=%s." % self.translation_vector.shape)
def __init__(self, rotation_matrix, translation_vector):
Variable.__init__(self)
self.rotation_matrix = rotation_matrix
self.translation_vector = translation_vector
self.inertia_mass = numpy.zeros(3, float)
