def __init__(self):
#We define some quantities required for tests here..
self.p = dynamicsymbols('p:3')
self.q = dynamicsymbols('q:3')
self.dynamic = list(self.p) + list(self.q)
self.states = [radians(45) for x in self.p] + \
[radians(30) for x in self.q]
self.I = ReferenceFrame('I')
self.A = self.I.orientnew('A', 'space', self.p, 'XYZ')
self.B = self.A.orientnew('B', 'space', self.q, 'XYZ')
self.O = Point('O')
self.P1 = self.O.locatenew('P1', 10 * self.I.x + \
10 * self.I.y + 10 * self.I.z)
self.P2 = self.P1.locatenew('P2', 10 * self.I.x + \
10 * self.I.y + 10 * self.I.z)
self.point_list1 = [[2, 3, 1], [4, 6, 2], [5, 3, 1], [5, 3, 6]]
self.point_list2 = [[3, 1, 4], [3, 8, 2], [2, 1, 6], [2, 1, 1]]
self.shape1 = Cylinder()
self.shape2 = Cylinder()
self.Ixx, self.Iyy, self.Izz = symbols('Ixx Iyy Izz')
self.mass = symbols('mass')
self.parameters = [self.Ixx, self.Iyy, self.Izz, self.mass]
self.param_vals = [0, 0, 0, 0]
self.inertia = inertia(self.A, self.Ixx, self.Iyy, self.Izz)
self.rigid_body = RigidBody('rigid_body1', self.P1, self.A, \
self.mass, (self.inertia, self.P1))
self.global_frame1 = VisualizationFrame('global_frame1', \
self.A, self.P1, self.shape1)
self.global_frame2 = VisualizationFrame('global_frame2', \
self.B, self.P2, self.shape2)
self.scene1 = Scene(self.I, self.O, \
(self.global_frame1, self.global_frame2), \
name='scene')
self.particle = Particle('particle1', self.P1, self.mass)
#To make it more readable
p = self.p
q = self.q
#Here is the dragon ..
self.transformation_matrix = \
[[cos(p[1])*cos(p[2]), sin(p[2])*cos(p[1]), -sin(p[1]), 0], \
[sin(p[0])*sin(p[1])*cos(p[2]) - sin(p[2])*cos(p[0]), \
sin(p[0])*sin(p[1])*sin(p[2]) + cos(p[0])*cos(p[2]), \
sin(p[0])*cos(p[1]), 0], \
[sin(p[0])*sin(p[2]) + sin(p[1])*cos(p[0])*cos(p[2]), \
-sin(p[0])*cos(p[2]) + sin(p[1])*sin(p[2])*cos(p[0]), \
cos(p[0])*cos(p[1]), 0], \
[10, 10, 10, 1]]
def test_vframe_with_particle(self):
self.frame3 = VisualizationFrame('frame3', \
self.A, self.particle, \
self.shape1)
assert self.frame3.name == 'frame3'
assert self.frame3.reference_frame == self.A
assert self.frame3.origin == self.P1
assert self.frame3.shape is self.shape1
self.frame3.name = 'frame3_'
assert self.frame3.name == 'frame3_'
self.frame3.reference_frame = self.B
assert self.frame3.reference_frame == self.B
self.frame3.origin = self.P2
assert self.frame3.origin == self.P2
self.frame3.shape = self.shape2
assert self.frame3.shape is self.shape2
self.frame3.reference_frame = self.A
self.frame3.origin = self.P1
assert self.frame3.generate_transformation_matrix(self.I, self.O).tolist() == \
self.transformation_matrix
def test_vframe_with_rbody(self):
self.frame2 = VisualizationFrame('frame2', self.rigid_body, \
self.shape1)
assert self.frame2.name == 'frame2'
assert self.frame2.reference_frame == self.A
assert self.frame2.origin == self.P1
assert self.frame2.shape == self.shape1
self.frame2.name = 'frame2_'
assert self.frame2.name == 'frame2_'
self.frame2.reference_frame = self.B
assert self.frame2.reference_frame == self.B
self.frame2.origin = self.P2
assert self.frame2.origin == self.P2
self.frame2.shape = self.shape2
assert self.frame2.shape is self.shape2
self.frame2.reference_frame = self.A
self.frame2.origin = self.P1
assert self.frame2.generate_transformation_matrix(self.I, self.O).tolist() == \
self.transformation_matrix
def test_vframe_without_name(self):
self.frame4 = VisualizationFrame(self.I, self.O, \
self.shape1)
assert self.frame4.name == 'unnamed'
#To check if referenceframe and origin are defined
#properly without name arg
assert self.frame4.reference_frame == self.I
assert self.frame4.origin == self.O
assert self.frame4.shape is self.shape1
self.frame4.name = 'frame1_'
assert self.frame4.name == 'frame1_'
def test_vframe_with_rframe(self):
self.frame1 = VisualizationFrame('frame1', self.I, self.O, \
self.shape1)
assert self.frame1.name == 'frame1'
assert self.frame1.reference_frame == self.I
assert self.frame1.origin == self.O
assert self.frame1.shape is self.shape1
self.frame1.name = 'frame1_'
assert self.frame1.name == 'frame1_'
self.frame1.reference_frame = self.A
assert self.frame1.reference_frame == self.A
self.frame1.origin = self.P1
assert self.frame1.origin == self.P1
self.frame1.shape = self.shape2
assert self.frame1.shape is self.shape2
assert self.frame1.generate_transformation_matrix(self.I, self.O).tolist() == \
self.transformation_matrix
#!/usr/bin/env python
from pydy_viz.shapes import Cylinder, Sphere
from pydy_viz.visualization_frame import VisualizationFrame
from pydy_viz.scene import Scene
from .simulation import *
ankle_shape = Sphere(color='black', radius=0.1)
knee_shape = Sphere(color='black', radius=0.1)
hip_shape = Sphere(color='black', radius=0.1)
head_shape = Sphere(color='black', radius=0.125)
ankle_viz_frame = VisualizationFrame(inertial_frame, ankle, ankle_shape)
knee_viz_frame = VisualizationFrame(inertial_frame, knee, knee_shape)
hip_viz_frame = VisualizationFrame(inertial_frame, hip, hip_shape)
head = Point('N') # N for Noggin
head.set_pos(hip, 2 * torso_com_length * torso_frame.y)
head_viz_frame = VisualizationFrame(inertial_frame, head, head_shape)
constants_dict = dict(zip(constants, numerical_constants))
lower_leg_center = Point('l_c')
upper_leg_center = Point('u_c')
torso_center = Point('t_c')
lower_leg_center.set_pos(ankle, lower_leg_length / 2 * lower_leg_frame.y)
upper_leg_center.set_pos(knee, upper_leg_length / 2 * upper_leg_frame.y)
torso_center.set_pos(hip, torso_com_length * torso_frame.y)
