def test_assemble(self): # Test system: # # /-- m2 # m1 -----conn----| # \-- m3 s = System() m1 = RigidBody('m1', 1.3) m2 = RigidBody('m2', 3.4) m3 = RigidBody('m3', 7.5) conn = RigidConnection('conn') s.add_leaf(conn) s.add_leaf(m1) conn.add_leaf(m2) conn.add_leaf(m3) s.setup() # Check starting mass matrices of elements are as expected assert_aae(np.diag(m1.mass_vv[:3, :3]), 1.3) assert_aae(np.diag(m2.mass_vv[:3, :3]), 3.4) assert_aae(np.diag(m3.mass_vv[:3, :3]), 7.5) # Initially make system matrix empty for testing s.lhs[:, :] = 0 assert_aae(s.lhs, 0) # After assembly, the mass matrices are put in the correct places: # 0:6 -> m1 node # 6:12 -> conn constraints # 12:18 -> m2 node # 12:18 -> m3 node s.assemble() M = s.lhs.copy() # Subtract expected mass M[0:6, 0:6] -= m1.mass_vv M[12:18, 12:18] -= m2.mass_vv + m3.mass_vv # Subtract expected constraints M[0:6, 6:12] -= conn.F_vp M[6:12, 0:6] -= conn.F_vp M[12:18, 6:12] -= conn.F_vd M[6:12, 12:18] -= conn.F_vd assert_aae(M, 0)