def __init__(O, sites, masses):
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.translational_alignment(
center_of_mass=mp.center_of_mass())
O.i_spatial = mp.spatial_inertia(alignment_cb_0b=O.alignment.cb_0b)
#
qr = matrix.col((0, 0, 0))
O.joint = joint_lib.translational(qr=qr)
O.qd = O.joint.qd_zero
def __init__(O, sites, masses):
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.translational_alignment(
center_of_mass=mp.center_of_mass())
O.i_spatial = mp.spatial_inertia(alignment_cb_0b=O.alignment.cb_0b)
#
qr = matrix.col((0,0,0))
O.joint = joint_lib.translational(qr=qr)
O.qd = O.joint.qd_zero
def __init__(O):
sites = [matrix.col((0.949, 2.815, 5.189))]
mass_points = body_lib.mass_points(sites=sites, masses=[1.0])
O.alignment = joint_lib.translational_alignment(
center_of_mass=mass_points.center_of_mass())
O.i_spatial = mass_points.spatial_inertia(
alignment_cb_0b=O.alignment.cb_0b)
qr = matrix.col((-0.1, 0.3, 0.2))
O.joint = joint_lib.translational(qr=qr)
O.qd = matrix.col((0.05, 0.19, -0.29))
assert O.joint.get_linear_velocity(qd=O.qd).elems == O.qd.elems
O.qd = O.joint.new_linear_velocity(qd=O.qd, value=-O.qd)
assert O.joint.get_linear_velocity(qd=O.qd).elems == O.qd.elems
O.parent = -1
def __init__(O):
sites = [matrix.col((0.949, 2.815, 5.189))]
mass_points = body_lib.mass_points(sites=sites, masses=[1.0])
O.alignment = joint_lib.translational_alignment(
center_of_mass=mass_points.center_of_mass())
O.i_spatial = mass_points.spatial_inertia(
alignment_cb_0b=O.alignment.cb_0b)
qr = matrix.col((-0.1,0.3,0.2))
O.joint = joint_lib.translational(qr=qr)
O.qd = matrix.col((0.05,0.19,-0.29))
assert O.joint.get_linear_velocity(qd=O.qd).elems == O.qd.elems
O.qd = O.joint.new_linear_velocity(qd=O.qd, value=-O.qd)
assert O.joint.get_linear_velocity(qd=O.qd).elems == O.qd.elems
O.parent = -1
