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