def rotate_fixed_axis(self,fromframe,axis,q,system = None):
system = system or pynamics.get_system()
rotation = Rotation.build_fixed_axis(fromframe,self,axis,q,system)
rotational_velocity = RotationalVelocity.build_fixed_axis(fromframe,self,axis,q,system)
self.add_rotation(rotation)
self.add_w(rotational_velocity)
fromframe.add_rotation(rotation)
fromframe.add_w(rotational_velocity)
fromframe.R_tree.add_branch(self.R_tree)
fromframe.w_tree.add_branch(self.w_tree)
def rotate_fixed_axis(self, fromframe, axis, q, system):
import pynamics.misc_tools
if not all([pynamics.misc_tools.is_literal(item) for item in axis]):
raise (Exception('not all axis variables are constant'))
rotation = Rotation.build_fixed_axis(fromframe, self, axis, q, system)
rotational_velocity = RotationalVelocity.build_fixed_axis(
fromframe, self, axis, q, system)
self.set_parent_generic(fromframe, rotation, 'R')
self.set_parent_generic(fromframe, rotational_velocity, 'w')
self.add_generic(rotation, 'R')
self.add_generic(rotational_velocity, 'w')
fromframe.add_generic(rotation, 'R')
fromframe.add_generic(rotational_velocity, 'w')
fromframe.tree['R'].add_branch(self.tree['R'])
fromframe.tree['w'].add_branch(self.tree['w'])