def shift_gently(sites, mersenne_twister, angle=5): axis = mersenne_twister.random_double_point_on_sphere() r = matrix.sqr( scitbx.math.r3_rotation_axis_and_angle_as_matrix(axis=axis, angle=angle, deg=True)) return create_wells(sites=sites, mersenne_twister=mersenne_twister, r=r)
def __init__(O, mersenne_twister, n_sites): if (n_sites > 0): O.sites = [matrix.col(mersenne_twister.random_double_point_on_sphere())] while (len(O.sites) != n_sites): O.sites.append(O.sites[0] + matrix.col(mersenne_twister.random_double_point_on_sphere())) O.A = joint_lib.spherical_alignment(sites=O.sites) O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b) # O.wells = create_wells(sites=O.sites, mersenne_twister=mersenne_twister) # qE = matrix.col(mersenne_twister.random_double(size=4)).normalize() O.J = joint_lib.spherical(type="euler_params", qE=qE) O.qd = matrix.col(mersenne_twister.random_double(size=3)*2-1)
def __init__(O, mersenne_twister, prev=None): if (prev is None): normal = matrix.col(mersenne_twister.random_double_point_on_sphere()) pivot = matrix.col(mersenne_twister.random_double_point_on_sphere()) * 0.6 else: normal = prev.A.normal pivot = prev.A.pivot + normal * 0.3 O.sites = [pivot + normal * (-0.8)] O.A = joint_lib.revolute_alignment(pivot=pivot, normal=normal) O.I = spatial_inertia_from_sites(sites=O.sites, alignment_T=O.A.T0b) # O.wells = create_wells(sites=O.sites, mersenne_twister=mersenne_twister) # O.J = joint_lib.revolute(qE=matrix.col([math.pi/8])) O.qd = matrix.col([math.pi/12])
def __init__(O, six_dof_type, r_is_qr, mersenne_twister): O.sites_F0 = create_triangle_with_random_center_of_mass( mersenne_twister=mersenne_twister) O.A = joint_lib.six_dof_alignment(sites=O.sites_F0) O.I_spatial = spatial_inertia_from_sites( sites=O.sites_F0, alignment_T=O.A.T0b) # O.wells = test_utils.create_wells( sites=O.sites_F0, mersenne_twister=mersenne_twister) # qE = matrix.col(mersenne_twister.random_double(size=4)).normalize() qr = matrix.col(mersenne_twister.random_double(size=3)-0.5) if (r_is_qr): qr = joint_lib.RBDA_Eq_4_12(qE).transpose() * qr O.J = joint_lib.six_dof(type=six_dof_type, qE=qE, qr=qr, r_is_qr=r_is_qr) O.qd = matrix.col(mersenne_twister.random_double(size=6)*2-1) # O.energies_and_accelerations_update()
def shift_gently(sites, mersenne_twister, angle=5): axis = mersenne_twister.random_double_point_on_sphere() r = matrix.sqr(scitbx.math.r3_rotation_axis_and_angle_as_matrix( axis=axis, angle=angle, deg=True)) return create_wells(sites=sites, mersenne_twister=mersenne_twister, r=r)