np.pi)**2.0 * m_fork * g * l_fork - m_fork * l_fork**2.
# Axle measurements
cur.execute("select * from parametermeasurements.axleoffsetmeasurements;")
results = cur.fetchall()[0]
id, lr, lf, ls = results
# Rear gyrostat caclulations
frame_com = [frame_d, 0.0, frame_f]
I_Frame = [IRxx, IRyy, IRzz, 0.0, 0.0, IRxz]
I_RW = [IRWxx, IRWyy, IRWxx, 0.0, 0.0, 0.0]
mr, r_RWO_RO, I_R_RO = GyrostatParameters(m_frame, m_rw, frame_com, I_Frame,
I_RW)
rear = WheelAssemblyGyrostat()
rear.Ixx = I_R_RO[0]
rear.Iyy = I_R_RO[1]
rear.Izz = I_R_RO[2]
rear.Ixz = I_R_RO[5]
rear.J = IRWyy
rear.m = mr
rear.R = radius_rear
rear.a = r_RWO_RO[0]
rear.b = r_RWO_RO[2]
rear.c = lr
print("Rear Gyrostat:")
print(rear)
# Front Gyrostat calculations
fork_com = [fork_d, 0.0, fork_f]
I_Fork = [IFxx, IFyy, IFzz, 0.0, 0.0, IFxz]
from bicycle import WheelAssemblyGyrostat, Bicycle, Whipple rear = WheelAssemblyGyrostat() front = WheelAssemblyGyrostat() # BEGIN Copy paste from output of data/physicalparameters/compute_model_parameters.py rear.Ixx = 1.542023074848535 rear.Iyy = 3.557313581104186 rear.Izz = 3.014542484492762 rear.Ixz = 0.8392298939950623 rear.J = 0.1138146697426332 rear.m = 34.05 rear.R = 0.3359074174667941 rear.r = 0 rear.a = 0.5139283534655644 rear.b = -0.2185938844305652 rear.c = 0.9637521999999999 front.Ixx = 0.1834745058089018 front.Iyy = 0.2257063173763909 front.Izz = 0.06923407270022158 front.Ixz = -0.009663296585475524 front.J = 0.09227403707515749 front.m = 2.95 front.R = 0.3358632190780645 front.r = 0 front.a = -0.02086466545111477 front.b = -0.1524559736777648 front.c = -0.0478155 ls = 0.3434334 # END Copy paste from output of data/physicalparameters/compute_model_parameters.py
from bicycle import WheelAssemblyGyrostat, Bicycle, Whipple rear = WheelAssemblyGyrostat() front = WheelAssemblyGyrostat() # BEGIN Copy paste from output of data/physicalparameters/compute_model_parameters.py rear.Ixx = 1.542023074848535 rear.Iyy = 3.557313581104186 rear.Izz = 3.014542484492762 rear.Ixz = 0.8392298939950623 rear.J = 0.1138146697426332 rear.m = 34.05 rear.R = 0.3359074174667941 rear.r = 0 rear.a = 0.5139283534655644 rear.b = -0.2185938844305652 rear.c = 0.9637521999999999 front.Ixx = 0.1834745058089018 front.Iyy = 0.2257063173763909 front.Izz = 0.06923407270022158 front.Ixz = -0.009663296585475524 front.J = 0.09227403707515749 front.m = 2.95 front.R = 0.3358632190780645 front.r = 0 front.a = -0.02086466545111477 front.b = -0.1524559736777648 front.c = -0.0478155 ls = 0.3434334 # END Copy paste from output of data/physicalparameters/compute_model_parameters.py
IRyy = (T_frame_compound / 2.0 / np.pi) ** 2.0 * m_frame * g * l_frame - m_frame * l_frame ** 2.0
IFyy = (T_fork_compound / 2.0 / np.pi) ** 2.0 * m_fork * g * l_fork - m_fork * l_fork ** 2.0
# Axle measurements
cur.execute("select * from parametermeasurements.axleoffsetmeasurements;")
results = cur.fetchall()[0]
id, lr, lf, ls = results
# Rear gyrostat caclulations
frame_com = [frame_d, 0.0, frame_f]
I_Frame = [IRxx, IRyy, IRzz, 0.0, 0.0, IRxz]
I_RW = [IRWxx, IRWyy, IRWxx, 0.0, 0.0, 0.0]
mr, r_RWO_RO, I_R_RO = GyrostatParameters(m_frame, m_rw, frame_com, I_Frame, I_RW)
rear = WheelAssemblyGyrostat()
rear.Ixx = I_R_RO[0]
rear.Iyy = I_R_RO[1]
rear.Izz = I_R_RO[2]
rear.Ixz = I_R_RO[5]
rear.J = IRWyy
rear.m = mr
rear.R = radius_rear
rear.a = r_RWO_RO[0]
rear.b = r_RWO_RO[2]
rear.c = lr
print("Rear Gyrostat:")
print(rear)
# Front Gyrostat calculations
fork_com = [fork_d, 0.0, fork_f]
I_Fork = [IFxx, IFyy, IFzz, 0.0, 0.0, IFxz]