def __init__(O, pivot):
O.sites = [matrix.col((2 / 3., 0, 1 / 3.)) + pivot]
O.A = joint_lib.revolute_alignment(pivot=pivot,
normal=matrix.col((1, 0, 0)))
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
O.wells = O.sites
O.J = joint_lib.revolute(qE=matrix.col([math.pi / 6.]))
O.qd = matrix.col([0])
def __init__(O, pivot):
O.sites = [matrix.col((2/3.,0,1/3.))+pivot]
O.A = joint_lib.revolute_alignment(
pivot=pivot,
normal=matrix.col((1,0,0)))
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
O.wells = O.sites
O.J = joint_lib.revolute(qE=matrix.col([math.pi/6.]))
O.qd = matrix.col([0])
def __init__(O, labels, sites, bonds, pivot, normal, mersenne_twister): O.labels = labels O.sites = sites O.bonds = bonds O.A = joint_lib.revolute_alignment(pivot=pivot, normal=normal) 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) # O.J = joint_lib.revolute(qE=matrix.col([0])) O.qd = O.J.qd_zero
def __init__(O, labels, sites, bonds, pivot, normal, mersenne_twister):
O.labels = labels
O.sites = sites
O.bonds = bonds
O.A = joint_lib.revolute_alignment(pivot=pivot, normal=normal)
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)
#
O.J = joint_lib.revolute(qE=matrix.col([0]))
O.qd = O.J.qd_zero
def d_pot_d_q_via_finite_differences(O, eps=1.e-6):
result = []
for B in O.bodies:
fs = []
J_orig = B.J
for signed_eps in [eps, -eps]:
B.J = joint_lib.revolute(qE=matrix.col((J_orig.qE[0]+signed_eps,)))
O.e_pot_and_f_ext_update()
fs.append(O.e_pot)
B.J = J_orig
result.append(matrix.col(((fs[0]-fs[1])/(2*eps),)))
O.energies_and_accelerations_update()
return result
def d_pot_d_q_via_finite_differences(O, eps=1.e-6):
result = []
for B in O.bodies:
fs = []
J_orig = B.J
for signed_eps in [eps, -eps]:
B.J = joint_lib.revolute(qE=matrix.col((J_orig.qE[0] +
signed_eps, )))
O.e_pot_and_f_ext_update()
fs.append(O.e_pot)
B.J = J_orig
result.append(matrix.col(((fs[0] - fs[1]) / (2 * eps), )))
O.energies_and_accelerations_update()
return result
def __init__(O, mersenne_twister, prev=None):
if (prev is None):
normal = matrix.col(mersenne_twister.random_double_point_on_sphere())
pivot = matrix.col(mersenne_twister.random_double_point_on_sphere()) * 0.6
else:
normal = prev.A.normal
pivot = prev.A.pivot + normal * 0.3
O.sites = [pivot + normal * (-0.8)]
O.A = joint_lib.revolute_alignment(pivot=pivot, normal=normal)
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)
#
O.J = joint_lib.revolute(qE=matrix.col([math.pi/8]))
O.qd = matrix.col([math.pi/12])
def __init__(O, mersenne_twister, prev=None):
if (prev is None):
normal = matrix.col(mersenne_twister.random_double_point_on_sphere())
pivot = matrix.col(mersenne_twister.random_double_point_on_sphere()) * 0.6
else:
normal = prev.A.normal
pivot = prev.A.pivot + normal * 0.3
O.sites = [pivot + normal * (-0.8)]
O.A = joint_lib.revolute_alignment(pivot=pivot, normal=normal)
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)
#
O.J = joint_lib.revolute(qE=matrix.col([math.pi/8]))
O.qd = matrix.col([math.pi/12])
def __init__(O, mersenne_twister):
def random_vector():
return matrix.col(mersenne_twister.random_double(size=3)*2-1)
def random_angle():
return (mersenne_twister.random_double()*2-1)*math.pi
#
O.sites = [random_vector()]
for i_trial in xrange(100): # guard against unlikely singularity
O.A = joint_lib.revolute_alignment(
pivot=random_vector(),
normal=random_vector().normalize())
if (abs(O.A.normal.cos_angle(O.sites[0] - O.A.pivot)) > 1.e-3):
break
else:
raise RuntimeError
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = [random_vector()]
#
O.J = joint_lib.revolute(qE=matrix.col([random_angle()]))
O.qd = matrix.col([random_angle()])
def __init__(O, mersenne_twister):
def random_vector():
return matrix.col(mersenne_twister.random_double(size=3) * 2 - 1)
def random_angle():
return (mersenne_twister.random_double() * 2 - 1) * math.pi
#
O.sites = [random_vector()]
for i_trial in range(100): # guard against unlikely singularity
O.A = joint_lib.revolute_alignment(
pivot=random_vector(), normal=random_vector().normalize())
if (abs(O.A.normal.cos_angle(O.sites[0] - O.A.pivot)) > 1.e-3):
break
else:
raise RuntimeError
O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b)
#
O.wells = [random_vector()]
#
O.J = joint_lib.revolute(qE=matrix.col([random_angle()]))
O.qd = matrix.col([random_angle()])