from pynamics.output import Output,PointsOutput
from pynamics.particle import Particle
import pynamics.integration
from pynamics.constraint import AccelerationConstraint,KinematicConstraint
import sympy
import numpy
import matplotlib.pyplot as plt
plt.close('all')
plt.ion()
from math import pi
system = System()
pynamics.set_system(__name__,system)
lA = Constant(1,'lA',system)
lh = Constant(1,'lh',system)
lT = Constant(1,'lT',system)
# lA = Constant(1,'lA',system)
# lA = Constant(1,'lA',system)
# lA = Constant(1,'lA',system)
m = Constant(1,'m',system)
g = Constant(9.81,'g',system)
b = Constant(1e0,'b',system)
k = Constant(1e1,'k',system)
tol = 1e-5
tinitial = 0
tfinal = 5
tstep = 1/30
import pynamics.integration import numpy import matplotlib.pyplot as plt plt.ion() from math import pi import logging import pynamics.integration import pynamics.system import numpy.random import scipy.interpolate import cma system = System() pynamics.set_system(__name__, system) lA = Constant(1, 'lA', system) lB = Constant(1, 'lB', system) lC = Constant(1, 'lC', system) mA = Constant(1, 'mA', system) mB = Constant(1, 'mB', system) mC = Constant(1, 'mC', system) g = Constant(9.81, 'g', system) b = Constant(1e1, 'b', system) k = Constant(1e1, 'k', system) preload1 = Constant(0 * pi / 180, 'preload1', system) preload2 = Constant(0 * pi / 180, 'preload2', system) preload3 = Constant(0 * pi / 180, 'preload3', system)
import pynamics.integration
import pynamics.tanh
import sympy
import numpy
import matplotlib.pyplot as plt
plt.ion()
from math import pi
system = System()
pynamics.set_system(__name__, system)
tol = 1e-4
error_tol = 1e-10
m1 = Constant(1e0, 'm1', system)
m2 = Constant(1e0, 'm2', system)
l0 = Constant(1, 'l0', system)
g = Constant(9.81, 'g', system)
k_constraint = Constant(1e4, 'k_constraint', system)
b_constraint = Constant(1e5, 'b_constraint', system)
tinitial = 0
tfinal = 10
fps = 30
tstep = 1 / fps
t = numpy.r_[tinitial:tfinal:tstep]
x1, x1_d, x1_dd = Differentiable('x1', system)
y1, y1_d, y1_dd = Differentiable('y1', system)
q1, q1_d, q1_dd = Differentiable('q1', system)