def recalculate(self):
M1_1 = HMatrix.Roty(self.a1)
M1_2 = HMatrix.Translation(self.l1.l, 0, 0)
M2_1 = HMatrix.Roty(self.a2)
M2_2 = HMatrix.Translation(self.l2.l, 0, 0)
self.l1.T = M1_1
self.f1.T = self.l1.T * M1_2
self.l2.T = self.f1.T * M2_1
self.f2.T = self.l2.T * M2_2
#-- Frame position vectors
self.f1_r.T = self.l1.T
self.f2_r.T = self.l2.T
def test_friki6():
#-- Frame 1
frame()
#-- Frame 2
f2 = frame()
#-- Homogeneours matrices
M = HMatrix.Translation(20, 0, 0)
N = HMatrix.Rotx(30)
#-- Apply a transformation matrix to the frame 2
f2.T = M * N
def eival(phi, theta, t7):
N1 = 150
N2 = 150
N3 = 150
a = 1
t1 = 3
t2 = 3
t3 = 3
t6 = 0.4
t1_tilde = 3
t2_tilde = 3
t3_tilde = 3
kx, ky = path(N1, N2, N3)
eigenvals1 = []
eigenvals2 = []
eigenvals3 = []
eigenvals4 = []
for i in range(len(kx)):
eigval = eigvalsh(
Ham.Bilayer_origin_A2_field_angle(kx[i], ky[i], 0, t1, t2, t3,
t1_tilde, t2_tilde, t3_tilde, t6,
t7 * t6, phi, theta, a, 0))
eigenvals1.append(eigval[0, 0, 0])
eigenvals2.append(eigval[0, 0, 1])
eigenvals3.append(eigval[0, 0, 2])
eigenvals4.append(eigval[0, 0, 3])
return eigenvals1, eigenvals2, eigenvals3, eigenvals4
def evals1(phi, theta, t7):
N = 150
kx = np.linspace(-np.pi, np.pi, N + 1)
ky = np.linspace(-np.pi, np.pi, N + 1)
KX, KY = np.meshgrid(kx, ky)
a = 1
t1 = 3
t2 = 3
t3 = 3
t6 = 0.4
t1_tilde = 3
t2_tilde = 3
t3_tilde = 3
H = Ham.Bilayer_origin_A2_field_angle(KX, KY, N, t1, t2, t3, t1_tilde,
t2_tilde, t3_tilde, t6, t7 * t6, phi,
theta, a, 0)
eigenvals = eigvalsh(H)
return eigenvals[:, :, 1]
def evals2(phi, theta, t7):
K = -(4 * np.pi) / (3 * np.sqrt(3))
N = 150
dkx = np.linspace(K - 0.4, K + 0.4, N + 1) # (-0.6, 0.6, N+1)
dky = np.linspace(-0.4, 0.4, N + 1) # (K-0.6, K+0.6, N+1)
DKX, DKY = np.meshgrid(dkx, dky)
a = 1
t1 = 3
t2 = 3
t3 = 3
t6 = 0.4
t1_tilde = 3
t2_tilde = 3
t3_tilde = 3
H = Ham.Bilayer_origin_A2_field_angle(DKX, DKY, N, t1, t2, t3, t1_tilde,
t2_tilde, t3_tilde, t6, t7 * t6, phi,
theta, a, 0)
eigenvals = eigvalsh(H)
return eigenvals[:, :, 1]
a1 = -60
a2 = 70
L1 = 40
L2 = 40
v1 = Vector(L1, 0, 0)
v2 = Vector(L2, 0, 0)
f0 = frame()
f1 = frame()
f2 = frame()
sv1 = svector(v1).color("yellow")
sv2 = svector(v2).color("yellow")
Ma = HMatrix.Roty(a1)
Mb = HMatrix.Translation(v1)
Mc = HMatrix.Roty(a2)
Md = HMatrix.Translation(v2)
sv1.T = Ma
f1.T = Ma * Mb
sv2.T = Ma * Mb * Mc
f2.T = Ma * Mb * Mc * Md
vr = f2.T.multiply(Vector(0,0,0))
svr = svector(vr).color("orange")
l1 = link(l = L1, D = 10, w = 5).ice(80)
l2 = link(l = L2, D = 10, w = 3).ice(80)
#-- Robot parameters
a1 = -30
a2 = -60
a3 = 70
L1 = 11
L2 = 40
L3 = 40
#--- Link vectors
v1 = Vector(0, 0, L1)
v2 = Vector(L2, 0, 0)
v3 = Vector(L3, 0, 0)
#--- Transformations
Ma = HMatrix.Rotz(a1) * HMatrix.Translation(v1)
Mb = HMatrix.Roty(a2)
Mc = HMatrix.Translation(v2)
Md = HMatrix.Roty(a3)
Me = HMatrix.Translation(v3)
#--- Graphical elements for the kinematics
f0 = frame()
f1 = frame()
f2 = frame()
f3 = frame()
#sv1 = svector(v1).color("yellow")
sv2 = svector(v2).color("yellow")
sv3 = svector(v3).color("yellow")