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, 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()