Key highlights of this week’s work are:
chaos pendulum to check JointsMethod is working in all cases.
Fixed all reviewed changes and got JointsMethod merged.
This marks the completion of my GSoC projects.Key highlights of this week’s work are:
JointsMethod.
Made JointsMethod convert Body objects to RigidBody or Particle, as
KanesMethod and LagrangesMethod doesn’t work with Body.Key highlights of this week’s work are:
KanesMethod and LagrangesMethod alot similar than before by giving them similar properties
so that we can use duck typing in form_eoms method function in JointsMethod.
Extended the double pendulum test case.Key highlights of this week’s work are:
JointsMethod work with both KanesMethod and LagrangesMethod and with all other future
methods too if they are made according to previous methods. Also explicitly added kinetic_energy
to class Body since compiler can’t decide a Body object is a RigidBody or Particle because
Body inherits both classes so introduced is_particle and is_rigidbody to Body, Particle and RigidBody so that they can be differentiated.
Add new abstract base class for methods
_Methods, which is to be inherited by KanesMethod, LagrangesMethod and
other methods which would be made in future to make them similar to each other and make all
methods to work with JointsMethod.Key highlights of this week’s work are:
PinJoint was merged the master branch started failing on master
branch because the symengine version in optional dependencies was pinned to an
old build. So this PR unpins that version so that always the latest version of
symengine is installed.
pi in Joints which was causing the master
build to fail.
Check if velocity is defined in frame before taking derivative of pos
PrismaticJoint I found a hidden test case of automatic calculation of
velocity. In joints we have a limitation that we can set relation of child body to immediate
parent body only. In a chain/series of joints there is no way to set relation of child body
to any other parent body, in that case we need a way to compute velocity relations(we can
already compute pos relations). The automatic velocity calculation accounted only for the
differentiation of the related position vector rather than checking defined velocity in intermediate
frames. So this PR aims to check velocity in intermediate frame first before looking at position vector.
Add warnings to magnitude and angle_between
Warnings section to magnitude and
angle_between functions of class Vector in physics.mechanics to make
user aware of it.
.loads attribute of class Body immutable to have complete control over the forces and torques added. Made .apply_force() and .apply_torque() to handle equal and opposite forces/torques.
Also added clear_loads() function to clear all the loads from a body and a remove_load function
to remove entire torque from the body or entire force from a point on the body.
JointsMethod to form the equations of motion of a system created with joints.
It takes an inertial frame/body and all the joints and then computes all kdes using Kane’s
method in backend. It has all attributes of Kane’s method.