def __init__(self):
modelSettings = settings.ModelSettings().get()
theta1 = sp.symbols('theta1')
theta2 = sp.symbols('theta2')
theta3 = sp.symbols('theta3')
theta4 = sp.symbols('theta4')
theta5 = sp.symbols('theta5')
d1 = modelSettings['d1']
alpha1 = math.radians(-90)
a2 = modelSettings['a2']
a3 = modelSettings['a3']
alpha4 = math.radians(-90)
self._0T1 = trHomogene.dhMatrix(theta1, 0, d1, alpha1)
self._1T2 = trHomogene.dhMatrix(theta2, a2, 0, 0)
self._2T3 = trHomogene.dhMatrix(theta3, a3, 0, 0)
self._3T4 = trHomogene.dhMatrix(theta4, 0, 0, alpha4)
self._4Tf = trHomogene.dhMatrix(theta5, 0, 0, 0)
self._0Tf = self._0T1 * self._1T2 * self._2T3 * self._3T4 * self._4Tf
# Change log: # # # # # Code: import settings import os # These settings are to imitate sedml entities for configuring simulation simulationSettings = settings.SimulationSettings() modelSettings = settings.ModelSettings() analogSignalRecordingSettings = settings.DataSettings() spikeRecordingSettings = settings.DataSettings() changeSettings = settings.ChangeSettings() simulationSettings.endTime = 10.0 modelSettings.container = '/network' modelSettings.libpath = '/library' modelSettings.protodir = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'proto') modelSettings.morph_has_postion = False modelSettings.populationSize['SupPyrRS'] = 1000 modelSettings.populationSize['SupPyrFRB'] = 50 modelSettings.populationSize['SupBasket'] = 90 modelSettings.populationSize['SupAxoaxonic'] = 90