def __init__(O, labels, sites, bonds, mersenne_twister): O.labels = labels O.sites = sites O.bonds = bonds O.A = joint_lib.six_dof_alignment(sites=O.sites) O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b) # O.wells = shift_gently(sites=O.sites, mersenne_twister=mersenne_twister) # qE = matrix.col((0,0,0)) qr = matrix.col((0,0,0)) O.J = joint_lib.six_dof(type="euler_params", qE=qE, qr=qr, r_is_qr=True) O.qd = O.J.qd_zero
def __init__(O, mersenne_twister, n_sites):
if (n_sites > 0):
O.sites = [matrix.col(mersenne_twister.random_double_point_on_sphere())]
while (len(O.sites) != n_sites):
O.sites.append(O.sites[0]
+ matrix.col(mersenne_twister.random_double_point_on_sphere()))
O.A = joint_lib.six_dof_alignment(sites=O.sites)
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = create_wells(sites=O.sites, mersenne_twister=mersenne_twister)
#
qE = matrix.col(mersenne_twister.random_double(size=4)).normalize()
qr = matrix.col(mersenne_twister.random_double(size=3)-0.5)
O.J = joint_lib.six_dof(type="euler_params", qE=qE, qr=qr, r_is_qr=True)
O.qd = matrix.col(mersenne_twister.random_double(size=6)*2-1)
def __init__(O, mersenne_twister, n_sites):
if (n_sites > 0):
O.sites = [matrix.col(mersenne_twister.random_double_point_on_sphere())]
while (len(O.sites) != n_sites):
O.sites.append(O.sites[0]
+ matrix.col(mersenne_twister.random_double_point_on_sphere()))
O.A = joint_lib.six_dof_alignment(sites=O.sites)
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = create_wells(sites=O.sites, mersenne_twister=mersenne_twister)
#
qE = matrix.col(mersenne_twister.random_double(size=4)).normalize()
qr = matrix.col(mersenne_twister.random_double(size=3)-0.5)
O.J = joint_lib.six_dof(type="euler_params", qE=qE, qr=qr, r_is_qr=True)
O.qd = matrix.col(mersenne_twister.random_double(size=6)*2-1)
def __init__(O, labels, sites, bonds, mersenne_twister):
O.labels = labels
O.sites = sites
O.bonds = bonds
O.A = joint_lib.six_dof_alignment(sites=O.sites)
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = shift_gently(sites=O.sites,
mersenne_twister=mersenne_twister)
#
qE = matrix.col((0, 0, 0))
qr = matrix.col((0, 0, 0))
O.J = joint_lib.six_dof(type="euler_params",
qE=qE,
qr=qr,
r_is_qr=True)
O.qd = O.J.qd_zero
def __init__(O, six_dof_type, r_is_qr, mersenne_twister):
O.sites_F0 = create_triangle_with_random_center_of_mass(
mersenne_twister=mersenne_twister)
O.A = joint_lib.six_dof_alignment(sites=O.sites_F0)
O.I_spatial = spatial_inertia_from_sites(
sites=O.sites_F0, alignment_T=O.A.T0b)
#
O.wells = test_utils.create_wells(
sites=O.sites_F0, mersenne_twister=mersenne_twister)
#
qE = matrix.col(mersenne_twister.random_double(size=4)).normalize()
qr = matrix.col(mersenne_twister.random_double(size=3)-0.5)
if (r_is_qr):
qr = joint_lib.RBDA_Eq_4_12(qE).transpose() * qr
O.J = joint_lib.six_dof(type=six_dof_type, qE=qE, qr=qr, r_is_qr=r_is_qr)
O.qd = matrix.col(mersenne_twister.random_double(size=6)*2-1)
#
O.energies_and_accelerations_update()
def __init__(O, six_dof_type, r_is_qr, mersenne_twister):
O.sites_F0 = create_triangle_with_random_center_of_mass(
mersenne_twister=mersenne_twister)
O.A = joint_lib.six_dof_alignment(sites=O.sites_F0)
O.I_spatial = spatial_inertia_from_sites(
sites=O.sites_F0, alignment_T=O.A.T0b)
#
O.wells = test_utils.create_wells(
sites=O.sites_F0, mersenne_twister=mersenne_twister)
#
qE = matrix.col(mersenne_twister.random_double(size=4)).normalize()
qr = matrix.col(mersenne_twister.random_double(size=3)-0.5)
if (r_is_qr):
qr = joint_lib.RBDA_Eq_4_12(qE).transpose() * qr
O.J = joint_lib.six_dof(type=six_dof_type, qE=qE, qr=qr, r_is_qr=r_is_qr)
O.qd = matrix.col(mersenne_twister.random_double(size=6)*2-1)
#
O.energies_and_accelerations_update()
