示例#1
0
 def __init__(O, sites, masses):
     O.number_of_sites = len(sites)
     mp = mass_points(sites=sites, masses=masses)
     O.sum_of_masses = mp.sum_of_masses()
     O.alignment = joint_lib.translational_alignment(
         center_of_mass=mp.center_of_mass())
     O.i_spatial = mp.spatial_inertia(alignment_cb_0b=O.alignment.cb_0b)
     #
     qr = matrix.col((0, 0, 0))
     O.joint = joint_lib.translational(qr=qr)
     O.qd = O.joint.qd_zero
示例#2
0
 def __init__(O, sites, masses):
   O.number_of_sites = len(sites)
   mp = mass_points(sites=sites, masses=masses)
   O.sum_of_masses = mp.sum_of_masses()
   O.alignment = joint_lib.translational_alignment(
     center_of_mass=mp.center_of_mass())
   O.i_spatial = mp.spatial_inertia(alignment_cb_0b=O.alignment.cb_0b)
   #
   qr = matrix.col((0,0,0))
   O.joint = joint_lib.translational(qr=qr)
   O.qd = O.joint.qd_zero
示例#3
0
 def __init__(O):
     sites = [matrix.col((0.949, 2.815, 5.189))]
     mass_points = body_lib.mass_points(sites=sites, masses=[1.0])
     O.alignment = joint_lib.translational_alignment(
         center_of_mass=mass_points.center_of_mass())
     O.i_spatial = mass_points.spatial_inertia(
         alignment_cb_0b=O.alignment.cb_0b)
     qr = matrix.col((-0.1, 0.3, 0.2))
     O.joint = joint_lib.translational(qr=qr)
     O.qd = matrix.col((0.05, 0.19, -0.29))
     assert O.joint.get_linear_velocity(qd=O.qd).elems == O.qd.elems
     O.qd = O.joint.new_linear_velocity(qd=O.qd, value=-O.qd)
     assert O.joint.get_linear_velocity(qd=O.qd).elems == O.qd.elems
     O.parent = -1
示例#4
0
 def __init__(O):
   sites = [matrix.col((0.949, 2.815, 5.189))]
   mass_points = body_lib.mass_points(sites=sites, masses=[1.0])
   O.alignment = joint_lib.translational_alignment(
     center_of_mass=mass_points.center_of_mass())
   O.i_spatial = mass_points.spatial_inertia(
     alignment_cb_0b=O.alignment.cb_0b)
   qr = matrix.col((-0.1,0.3,0.2))
   O.joint = joint_lib.translational(qr=qr)
   O.qd = matrix.col((0.05,0.19,-0.29))
   assert O.joint.get_linear_velocity(qd=O.qd).elems == O.qd.elems
   O.qd = O.joint.new_linear_velocity(qd=O.qd, value=-O.qd)
   assert O.joint.get_linear_velocity(qd=O.qd).elems == O.qd.elems
   O.parent = -1