def equilibriumSolver(tgtAngle, l, opts, fv):
opts.beta = 1e-8
opts.gradTol = 1e-6
opts.useIdentityMetric = True
if (tgtAngle != None):
return elastic_rods.compute_equilibrium(l,
tgtAngle,
options=opts,
fixedVars=fv)
else:
return elastic_rods.compute_equilibrium(l,
options=opts,
fixedVars=fv)
def equilibriumSolver(tgtAngle, l, opts, fv):
opts.useIdentityMetric = False
opts.beta = 1e-8
return elastic_rods.compute_equilibrium(l,
tgtAngle,
options=opts,
fixedVars=fv)
def runTest(L, a, numVertices, gradTol=None):
r, fixedVars = bendingTestRod(L, a, numVertices)
t = time.time()
opts = elastic_rods.NewtonOptimizerOptions()
opts.verbose = False
opts.niter = 1000
opts.useIdentityMetric = False
opts.useNegativeCurvatureDirection = True
if (gradTol is not None):
opts.gradTol = gradTol
cr = elastic_rods.compute_equilibrium(r, options=opts, fixedVars=fixedVars)
# if (gradTol is None): elastic_rods.compute_equilibrium_knitro(r, verbose=False, fixedVars=fixedVars, niter=1000)
# else: elastic_rods.compute_equilibrium_knitro(r, verbose=False, fixedVars=fixedVars, niter=1000)
simTime = time.time() - t
arod = AnalyticRod(L, a)
return r, arod, simTime, cr.numIters()
# driver=48
# linkage = elastic_rods.RodLinkage('../examples/florin/20181114_134207_meshID_34b18bdf-8314-454a-96de-b2b2d7356db1.obj', 10)
driver = 64
linkage = elastic_rods.RodLinkage('../examples/nonuniform_linkage.obj', 10)
mat = elastic_rods.RodMaterial('+', 2000, 0.3, [0.02, 0.02, 0.002, 0.002])
# mat = elastic_rods.RodMaterial('ellipse', 20000, 0.3, [0.02, 0.002])
linkage.setMaterial(mat)
elastic_rods.benchmark_reset()
elastic_rods.restlen_solve(linkage)
jdo = linkage.dofOffsetForJoint(driver)
fixedVars = list(range(jdo, jdo + 6)) # fix rigid motion for a single joint
fixedVars.append(jdo + 6) # constrain angle at the driving joint
elastic_rods.compute_equilibrium(linkage, fixedVars=fixedVars)
def equilibriumSolver(tgtAngle, l, opts, fv):
opts.useIdentityMetric = False
opts.beta = 1e-8
return elastic_rods.compute_equilibrium(l,
tgtAngle,
options=opts,
fixedVars=fv)
#cr = open_linkage(linkage, driver, np.pi/4, 25, None, zPerturbationEpsilon=0, equilibriumSolver=equilibriumSolver, verbose=1, useTargetAngleConstraint=False)
cr = open_linkage(linkage,
driver,
np.pi / 8,