args=({
'constants': {},
'alpha': 1e2,
'beta': 1e1
}, ))
lambda1_n = numpy.array([lambda1(tt, ss) for tt, ss in zip(t, states)])
plt.figure()
plt.plot(t, lambda1_n)
# =============================================================================
KE = system.get_KE()
PE = system.getPEGravity(0 * N.x) - system.getPESprings()
energy = Output([KE - PE])
energy.calc(states, t)
energy.plot_time()
# =============================================================================
points_list = [p1, p2]
#points_list = [item2 for item in points_list for item2 in [item.dot(N.x),item.dot(N.y)]]
#points = Output(points_list)
#y = points.calc(states,t)
#y = y.reshape((-1,2,2))
#plt.figure()
#plt.plot(y[:,1,0],y[:,1,1])
#plt.axis('equal')
states2 = Output([x, q])
states2.calc(states, t)
plt.figure()
pCcm=0*N.x
w1 = N.get_w_to(C)
IC = Dyadic.build(C,Ixx,Iyy,Izz)
BodyC = Body('BodyC',C,pCcm,mC,IC)
system.addforcegravity(-g*N.y)
# system.addforce(1*C.x+2*C.y+3*C.z,w1)
points = [1*C.x,0*C.x,1*C.y,0*C.y,1*C.z]
f,ma = system.getdynamics()
# func1 = system.state_space_pre_invert(f,ma)
func1 = system.state_space_post_invert(f,ma)
ini = [initialvalues[item] for item in system.get_state_variables()]
states=pynamics.integration.integrate_odeint(func1,ini,t,rtol = tol, atol=tol,args=({'constants':system.constant_values},))
po = PointsOutput(points,system)
po.calc(states,t)
po.animate(fps = 30,lw=2)
so = Output([qA,qB,qC])
so.calc(states,t)
so.plot_time()
func1,lambda1 = system.state_space_post_invert(f,ma,eq_dd,return_lambda = True)
states=pynamics.integration.integrate(func1,ini,t,rtol=tol,atol=tol, args=({'constants':system.constant_values},))
# Plot --- output
plt.figure()
artists = plt.plot(t,states[:,:3])
plt.legend(artists,['qA','qB','qC'])
# Plot --- energy
KE = system.get_KE()
PE = system.getPEGravity(pNA) - system.getPESprings()
energy_output = Output([KE-PE],system)
energy_output.calc(states)
energy_output.plot_time()
# Motion
points = [pNA,pAB,pBtip,pBC, pCD]
points_output = PointsOutput(points,system)
y = points_output.calc(states)
points_output.plot_time(20)
points_output.animate(fps = 30,lw=2)
from matplotlib import animation, rc
from IPython.display import HTML
HTML(points_output.anim.to_html5_video())
"""From the animation above, we see that because we set the neutral position of the device to stand straight (vertical sides for the four-bar mechanism), our device would not just freely drop to the ground.
states = pynamics.integration.integrate_odeint(func1,
ini,
t,
rtol=1e-10,
atol=1e-10,
args=({
'constants': constants,
'alpha': 1e2,
'beta': 1e1
}, ))
# =============================================================================
KE = system.get_KE()
PE = system.getPEGravity(0 * N.x) - system.getPESprings()
energy = Output([KE - PE], constant_values=constants)
energy.calc(states, t)
energy.plot_time()
# =============================================================================
positions = Output(system.get_q(0), constant_values=constants)
positions.calc(states, t)
positions.plot_time()
speeds = Output(system.get_q(1), constant_values=constants)
speeds.calc(states, t)
speeds.plot_time()
y = Output([G * qB_d], constant_values=constants)
y.calc(states, t)
y.plot_time()
statevariables = system.get_state_variables()
ini = [initialvalues[item] for item in statevariables]
tol = 1e-10
tinitial = 0
tfinal = 10
fps = 30
tstep = 1 / fps
t = numpy.r_[tinitial:tfinal:tstep]
constants = system.constant_values.copy()
states = pynamics.integration.integrate_odeint(func1,
ini,
t,
rtol=tol,
atol=tol,
args=({
'constants': constants
}, ))
states_min = [qNA, qAB, qBC]
states_min_out = Output(states_min, system)
states_min_out.calc(states, t)
states_min_out.plot_time()
points = [pBase, pAB, pBC, pCtip]
points_output = PointsOutput(points, system)
points_output.calc(states, t)
points_output.plot_time(20)
# points_output.animate(fps = fps,movie_name = 'triple_pendulum_maximal.mp4',lw=2,marker='o',color=(1,0,0,1),linestyle='-')
