def __init__(O, sites, masses, pivot):
O.number_of_sites = len(sites)
mp = mass_points(sites=sites, masses=masses)
O.sum_of_masses = mp.sum_of_masses()
O.alignment = joint_lib.spherical_alignment(pivot=pivot)
O.i_spatial = mp.spatial_inertia(alignment_cb_0b=O.alignment.cb_0b)
#
qe = matrix.col((1, 0, 0, 0))
O.joint = joint_lib.spherical(qe=qe)
O.qd = O.joint.qd_zero
def __init__(O, sites, masses, pivot): O.number_of_sites = len(sites) mp = mass_points(sites=sites, masses=masses) O.sum_of_masses = mp.sum_of_masses() O.alignment = joint_lib.spherical_alignment(pivot=pivot) O.i_spatial = mp.spatial_inertia(alignment_cb_0b=O.alignment.cb_0b) # qe = matrix.col((1,0,0,0)) O.joint = joint_lib.spherical(qe=qe) O.qd = O.joint.qd_zero
def __init__(O):
sites = matrix.col_list([(0.04, -0.16, 0.19), (0.10, -0.15, 0.18)])
mass_points = body_lib.mass_points(sites=sites, masses=[1.0, 1.0])
O.alignment = joint_lib.spherical_alignment(
pivot=mass_points.center_of_mass())
O.i_spatial = mass_points.spatial_inertia(
alignment_cb_0b=O.alignment.cb_0b)
qe = matrix.col((-0.50, -0.33, 0.67, -0.42)).normalize()
O.joint = joint_lib.spherical(qe=qe)
O.qd = matrix.col((0.12, -0.08, 0.11))
assert O.joint.get_linear_velocity(qd=O.qd) is None
assert O.joint.new_linear_velocity(qd=None, value=None) is None
O.parent = 0
def __init__(O):
sites = matrix.col_list([
(0.04, -0.16, 0.19),
(0.10, -0.15, 0.18)])
mass_points = body_lib.mass_points(sites=sites, masses=[1.0, 1.0])
O.alignment = joint_lib.spherical_alignment(
pivot=mass_points.center_of_mass())
O.i_spatial = mass_points.spatial_inertia(
alignment_cb_0b=O.alignment.cb_0b)
qe = matrix.col((-0.50, -0.33, 0.67, -0.42)).normalize()
O.joint = joint_lib.spherical(qe=qe)
O.qd = matrix.col((0.12, -0.08, 0.11))
assert O.joint.get_linear_velocity(qd=O.qd) is None
assert O.joint.new_linear_velocity(qd=None, value=None) is None
O.parent = 0
