def __init__(self, half, plane, name=None):
"""Initialize the body.
Parameters
----------
half: FloatingBody
a FloatingBody instance describing half of the body
plane: Plane
the symmetry plane across which the half body is mirrored
"""
assert isinstance(half, FloatingBody)
assert isinstance(plane, Plane)
half.nb_matrices_to_keep *= 2
self.plane = plane
other_half = half.copy()
other_half.mirror(plane)
other_half.name = "mirror_of_" + half.name
CollectionOfFloatingBodies.__init__(self, [half, other_half])
if name is None:
self.name = f"ReflectionSymmetry({half.name})"
else:
self.name = name
LOG.info(f"New mirror symmetric body: {self.name}.")
self.dofs = {}
for name, dof in half.dofs.items():
self.dofs['mirrored_' + name] = np.concatenate([dof, dof])
def __init__(self,
body_slice,
point_on_rotation_axis=np.zeros(3),
nb_repetitions=1,
name=None):
"""Initialize the body.
Parameters
----------
body_slice: FloatingBody
the pattern that will be repeated to form the whole body
point_on_rotation_axis: array(3)
one point on the rotation axis. The axis is supposed to be vertical.
nb_repetitions: int
the number of repetitions of the pattern (excluding the original one)
"""
assert isinstance(body_slice, FloatingBody)
assert isinstance(nb_repetitions, int)
assert nb_repetitions >= 1
point_on_rotation_axis = np.asarray(point_on_rotation_axis)
assert point_on_rotation_axis.shape == (3, )
body_slice.nb_matrices_to_keep *= nb_repetitions + 1
slices = [body_slice]
for i in range(1, nb_repetitions + 1):
new_slice = body_slice.copy(
name=f"rotation_{i}_of_{body_slice.name}")
new_slice.translate(-point_on_rotation_axis)
new_slice.rotate_z(2 * i * np.pi / (nb_repetitions + 1))
new_slice.translate(point_on_rotation_axis)
new_slice.nb_matrices_to_keep *= nb_repetitions + 1
slices.append(new_slice)
CollectionOfFloatingBodies.__init__(self, slices)
if name is None:
self.name = f"AxialSymmetry({body_slice.name})"
else:
self.name = name
LOG.info(f"New rotation symmetric body: {self.name}.")
self.dofs = {}
for name, dof in body_slice.dofs.items():
self.dofs["rotated_" + name] = np.concatenate([dof] *
nb_repetitions)
def __init__(self, body_slice, translation, nb_repetitions=1, name=None):
"""Initialize the body.
Parameters
----------
body_slice: FloatingBody
the pattern that will be repeated to form the whole body
translation: array(3)
the vector of the translation
nb_repetitions: int
the number of repetitions of the pattern (excluding the original one)
"""
assert isinstance(body_slice, FloatingBody)
assert isinstance(nb_repetitions, int)
assert nb_repetitions >= 1
translation = np.asarray(translation)
assert translation.shape == (3, )
self.translation = translation
body_slice.nb_matrices_to_keep *= nb_repetitions + 1
slices = [body_slice]
for i in range(1, nb_repetitions + 1):
new_slice = body_slice.copy(
name=f"repetition_{i}_of_{body_slice.name}")
new_slice.translate(i * translation)
new_slice.nb_matrices_to_keep *= nb_repetitions + 1
slices.append(new_slice)
CollectionOfFloatingBodies.__init__(self, slices)
if name is None:
self.name = f"TranslationSymmetry({body_slice.name})"
else:
self.name = name
LOG.info(f"New translation symmetric body: {self.name}.")
self.dofs = {}
for name, dof in body_slice.dofs.items():
self.dofs["translated_" + name] = np.concatenate([dof] *
nb_repetitions)