def setUp(self):
        joint = PrismaticJoint('joint', [0, 0, 1])
        joint.stiffness = self.K
        joint.damping = 2 * self.damping_coeff * (self.K * self.M) ** 0.5

        body = RigidBody('body', self.M)

        system = System()
        system.add_leaf(joint)
        joint.add_leaf(body)
        system.setup()
        system.update_kinematics()

        self.joint, self.body, self.system = joint, body, system
Exemple #2
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    def setUp(self):
        joint = PrismaticJoint('joint', [0, 0, 1])
        joint.stiffness = self.K
        joint.damping = 2 * self.damping_coeff * (self.K * self.M)**0.5

        body = RigidBody('body', self.M)

        system = System()
        system.add_leaf(joint)
        joint.add_leaf(body)
        system.setup()
        system.update_kinematics()

        self.joint, self.body, self.system = joint, body, system
    def test_1dof_linear_system(self):
        s = System()
        j = PrismaticJoint('joint', [0, 0, 1])
        j.stiffness = 5.0
        j.damping = 2.3
        b = RigidBody('body', 10)
        s.add_leaf(j)
        j.add_leaf(b)
        s.setup()

        linsys = LinearisedSystem.from_system(s)

        assert_array_equal(linsys.M, [[10.0]])
        assert_array_equal(linsys.C, [[2.3]])
        assert_array_equal(linsys.K, [[5.0]])
    def test_1dof_linear_system(self):
        s = System()
        j = PrismaticJoint('joint', [0, 0, 1])
        j.stiffness = 5.0
        j.damping = 2.3
        b = RigidBody('body', 10)
        s.add_leaf(j)
        j.add_leaf(b)
        s.setup()

        linsys = LinearisedSystem.from_system(s)

        assert_array_equal(linsys.M, [[10.0]])
        assert_array_equal(linsys.C, [[2.3]])
        assert_array_equal(linsys.K, [[5.0]])