floripy.rbd package#

Submodules#

floripy.rbd.bodymodels module#

Class implementing a body.

class floripy.rbd.bodymodels.BodyBase(bid)[source]#

Bases: object

Attributes:

bid

Methods

`update_acceleration`(a)	Update velocity and angular acceleration
`update_bid`(bid)	Update the body id.
`update_position`(com, shifter)	Update com and shifter.
`update_velocity`(v)	Update velocity and angular velocity

get_acceleration
get_angular_acceleration
get_angular_velocity
get_com
get_linear_acceleration
get_linear_velocity
get_shifter
get_velocity
update_com
update_shifter

update_bid(bid)[source]#: Update the body id.

update_position(com, shifter)[source]#: Update com and shifter.

update_velocity(v)[source]#: Update velocity and angular velocity

update_acceleration(a)[source]#: Update velocity and angular acceleration

update_com(com)[source]#

update_shifter(shifter)[source]#

get_com()[source]#

get_shifter()[source]#

get_velocity()[source]#

get_angular_velocity()[source]#

get_linear_velocity()[source]#

get_acceleration()[source]#

get_angular_acceleration()[source]#

get_linear_acceleration()[source]#

property bid#

class floripy.rbd.bodymodels.BodyZero(bid=None)[source]#

Bases: BodyBase

Attributes:

bid

Methods

`update_acceleration`(a)	Update velocity and angular acceleration
`update_bid`(bid)	Update the body id.
`update_position`(com, shifter)	Update com and shifter.
`update_velocity`(v)	Update velocity and angular velocity

get_acceleration
get_angular_acceleration
get_angular_velocity
get_com
get_linear_acceleration
get_linear_velocity
get_shifter
get_velocity
update_com
update_shifter

update_position(com, shifter)[source]#: Update com and shifter.

property bid#

get_acceleration()#

get_angular_acceleration()#

get_angular_velocity()#

get_com()#

get_linear_acceleration()#

get_linear_velocity()#

get_shifter()#

get_velocity()#

update_acceleration(a)#: Update velocity and angular acceleration

update_bid(bid)#: Update the body id.

update_com(com)#

update_shifter(shifter)#

update_velocity(v)#: Update velocity and angular velocity

class floripy.rbd.bodymodels.Sphere(bid, radius=None)[source]#

Bases: BodyBase

Attributes:

bid

Methods

`update_acceleration`(a)	Update velocity and angular acceleration
`update_bid`(bid)	Update the body id.
`update_position`(com, shifter)	Update com and shifter.
`update_velocity`(v)	Update velocity and angular velocity

get_acceleration
get_angular_acceleration
get_angular_velocity
get_com
get_linear_acceleration
get_linear_velocity
get_radius
get_shifter
get_velocity
update_com
update_shifter

get_radius()[source]#

property bid#

get_acceleration()#

get_angular_acceleration()#

get_angular_velocity()#

get_com()#

get_linear_acceleration()#

get_linear_velocity()#

get_shifter()#

get_velocity()#

update_acceleration(a)#: Update velocity and angular acceleration

update_bid(bid)#: Update the body id.

update_com(com)#

update_position(com, shifter)#: Update com and shifter.

update_shifter(shifter)#

update_velocity(v)#: Update velocity and angular velocity

class floripy.rbd.bodymodels.Prolate(bid, a=None, c=None)[source]#

Bases: BodyBase

Attributes:

bid

Methods

`update_acceleration`(a)	Update velocity and angular acceleration
`update_bid`(bid)	Update the body id.
`update_position`(com, shifter)	Update com and shifter.
`update_velocity`(v)	Update velocity and angular velocity

get_acceleration
get_angular_acceleration
get_angular_velocity
get_com
get_director
get_linear_acceleration
get_linear_velocity
get_prolate_a
get_prolate_c
get_shifter
get_velocity
update_com
update_shifter

get_prolate_a()[source]#

get_prolate_c()[source]#

get_director()[source]#

property bid#

get_acceleration()#

get_angular_acceleration()#

get_angular_velocity()#

get_com()#

get_linear_acceleration()#

get_linear_velocity()#

get_shifter()#

get_velocity()#

update_acceleration(a)#: Update velocity and angular acceleration

update_bid(bid)#: Update the body id.

update_com(com)#

update_position(com, shifter)#: Update com and shifter.

update_shifter(shifter)#

update_velocity(v)#: Update velocity and angular velocity

class floripy.rbd.bodymodels.Oblate(bid, a=None, c=None)[source]#

Bases: BodyBase

Attributes:

bid

Methods

`update_acceleration`(a)	Update velocity and angular acceleration
`update_bid`(bid)	Update the body id.
`update_position`(com, shifter)	Update com and shifter.
`update_velocity`(v)	Update velocity and angular velocity

get_acceleration
get_angular_acceleration
get_angular_velocity
get_com
get_director
get_linear_acceleration
get_linear_velocity
get_oblate_a
get_oblate_c
get_shifter
get_velocity
update_com
update_shifter

get_oblate_a()[source]#

get_oblate_c()[source]#

get_director()[source]#

property bid#

get_acceleration()#

get_angular_acceleration()#

get_angular_velocity()#

get_com()#

get_linear_acceleration()#

get_linear_velocity()#

get_shifter()#

get_velocity()#

update_acceleration(a)#: Update velocity and angular acceleration

update_bid(bid)#: Update the body id.

update_com(com)#

update_position(com, shifter)#: Update com and shifter.

update_shifter(shifter)#

update_velocity(v)#: Update velocity and angular velocity

class floripy.rbd.bodymodels.Parallelogram(bid, vertices=None)[source]#

Bases: BodyBase

Attributes:

bid
num_vertices

Methods

`update_acceleration`(a)	Update velocity and angular acceleration
`update_bid`(bid)	Update the body id.
`update_position`(com, shifter)	Update com and shifter.
`update_velocity`(v)	Update velocity and angular velocity

get_acceleration
get_angular_acceleration
get_angular_velocity
get_com
get_ellipsoid_a
get_ellipsoid_b
get_ellipsoid_c
get_ellipsoid_shifter
get_linear_acceleration
get_linear_velocity
get_shifter
get_velocity
update_com
update_shifter

get_ellipsoid_a()[source]#

get_ellipsoid_b()[source]#

get_ellipsoid_c()[source]#

get_ellipsoid_shifter()[source]#

property num_vertices#

property bid#

get_acceleration()#

get_angular_acceleration()#

get_angular_velocity()#

get_com()#

get_linear_acceleration()#

get_linear_velocity()#

get_shifter()#

get_velocity()#

update_acceleration(a)#: Update velocity and angular acceleration

update_bid(bid)#: Update the body id.

update_com(com)#

update_position(com, shifter)#: Update com and shifter.

update_shifter(shifter)#

update_velocity(v)#: Update velocity and angular velocity

floripy.rbd.bodymodels.create(bid, body_type, **kwargs)[source]#

floripy.rbd.jointmodels module#

Classes for various joint models. Ref. Roy Featherstone, Rigid Body Dynamics, Table 4.1, p.79

class floripy.rbd.jointmodels.JointBase(category, pf, sf, xi, r, zeta, prox_shifter, dist_shifter, mss, css, num_gencoord, num_genspeed)[source]#

Bases: object

Attributes:

connects
num_constraints
num_gencoord
num_genspeed
predecessor
successor

Methods

`get_css`()	Returns the joint constraint subspace.
`get_jpvm`()	Returns the joint partial velocity matrix.
`get_mss`()	Returns the joint motion subspace.
`get_shifter66`()	Return the 6x6 transform in world.

get_gencoord
get_gencoord_dot

abstractmethod get_gencoord_dot(u)[source]#

get_gencoord()[source]#

get_jpvm()[source]#: Returns the joint partial velocity matrix.

get_mss()[source]#: Returns the joint motion subspace.

get_css()[source]#: Returns the joint constraint subspace.

get_shifter66()[source]#: Return the 6x6 transform in world.

property num_genspeed#

property num_gencoord#

property num_constraints#

property predecessor#

property successor#

property connects#

class floripy.rbd.jointmodels.Revolute(**kwargs)[source]#

Bases: JointBase

Attributes:

connects
num_constraints
num_gencoord
num_genspeed
predecessor
successor

Methods

`get_css`()	Returns the joint constraint subspace.
`get_jpvm`()	Returns the joint partial velocity matrix.
`get_mss`()	Returns the joint motion subspace.
`get_shifter66`()	Return the 6x6 transform in world.

get_constraint_mat
get_gencoord
get_gencoord_dot
renormalize
selfupdate
update

update(q)[source]#

selfupdate()[source]#

renormalize()[source]#

get_gencoord_dot(u)[source]#

get_constraint_mat()[source]#

property connects#

get_css()#: Returns the joint constraint subspace.

get_gencoord()#

get_jpvm()#: Returns the joint partial velocity matrix.

get_mss()#: Returns the joint motion subspace.

get_shifter66()#: Return the 6x6 transform in world.

property num_constraints#

property num_gencoord#

property num_genspeed#

property predecessor#

property successor#

class floripy.rbd.jointmodels.Free(**kwargs)[source]#

Bases: JointBase

Attributes:

connects
num_constraints
num_gencoord
num_genspeed
predecessor
successor

Methods

`get_css`()	Returns the joint constraint subspace.
`get_jpvm`()	Returns the joint partial velocity matrix.
`get_mss`()	Returns the joint motion subspace.
`get_shifter66`()	Return the 6x6 transform in world.

get_constraint_mat
get_gencoord
get_gencoord_dot
renormalize
selfupdate
update

update(q)[source]#

selfupdate()[source]#

get_gencoord_dot(u)[source]#

renormalize()[source]#

get_constraint_mat()[source]#

property connects#

get_css()#: Returns the joint constraint subspace.

get_gencoord()#

get_jpvm()#: Returns the joint partial velocity matrix.

get_mss()#: Returns the joint motion subspace.

get_shifter66()#: Return the 6x6 transform in world.

property num_constraints#

property num_gencoord#

property num_genspeed#

property predecessor#

property successor#

class floripy.rbd.jointmodels.Spherical(**kwargs)[source]#

Bases: JointBase

Attributes:

connects
num_constraints
num_gencoord
num_genspeed
predecessor
successor

Methods

`get_css`()	Returns the joint constraint subspace.
`get_jpvm`()	Returns the joint partial velocity matrix.
`get_mss`()	Returns the joint motion subspace.
`get_shifter66`()	Return the 6x6 transform in world.

get_constraint_mat
get_gencoord
get_gencoord_dot
selfupdate
update

update(q)[source]#

selfupdate()[source]#

get_gencoord_dot(u)[source]#

get_constraint_mat()[source]#

property connects#

get_css()#: Returns the joint constraint subspace.

get_gencoord()#

get_jpvm()#: Returns the joint partial velocity matrix.

get_mss()#: Returns the joint motion subspace.

get_shifter66()#: Return the 6x6 transform in world.

property num_constraints#

property num_gencoord#

property num_genspeed#

property predecessor#

property successor#

class floripy.rbd.jointmodels.Root(**kwargs)[source]#

Bases: Free

Attributes:

connects
num_constraints
num_gencoord
num_genspeed
predecessor
successor

Methods

`get_css`()	Returns the joint constraint subspace.
`get_jpvm`()	Returns the joint partial velocity matrix.
`get_mss`()	Returns the joint motion subspace.
`get_shifter66`()	Return the 6x6 transform in world.

get_constraint_mat
get_gencoord
get_gencoord_dot
is_rooted
renormalize
reroot
selfupdate
update
uproot

update(q)[source]#

selfupdate()[source]#

uproot()[source]#

reroot(root_sphere_radius=0.0, loc=[0.0, 0.0, 0.0])[source]#

is_rooted()[source]#

property connects#

get_constraint_mat()#

get_css()#: Returns the joint constraint subspace.

get_gencoord()#

get_gencoord_dot(u)#

get_jpvm()#: Returns the joint partial velocity matrix.

get_mss()#: Returns the joint motion subspace.

get_shifter66()#: Return the 6x6 transform in world.

property num_constraints#

property num_gencoord#

property num_genspeed#

property predecessor#

renormalize()#

property successor#

class floripy.rbd.jointmodels.Fixed(**kwargs)[source]#

Bases: JointBase

Attributes:

connects
num_constraints
num_gencoord
num_genspeed
predecessor
successor

Methods

`get_css`()	Returns the joint constraint subspace.
`get_jpvm`()	Returns the joint partial velocity matrix.
`get_mss`()	Returns the joint motion subspace.
`get_shifter66`()	Return the 6x6 transform in world.

get_constraint_mat
get_gencoord
get_gencoord_dot
selfupdate
update

update(q)[source]#

selfupdate()[source]#

get_gencoord_dot(u)[source]#

get_constraint_mat()[source]#

property connects#

get_css()#: Returns the joint constraint subspace.

get_gencoord()#

get_jpvm()#: Returns the joint partial velocity matrix.

get_mss()#: Returns the joint motion subspace.

get_shifter66()#: Return the 6x6 transform in world.

property num_constraints#

property num_gencoord#

property num_genspeed#

property predecessor#

property successor#

floripy.rbd.jointmodels.create(joint_type, **kwargs)[source]#

floripy.rbd.mbs module#

class floripy.rbd.mbs.Mbs(**kwargs)[source]#

Bases: object

Attributes:

num_bodies
num_constraints
num_gencoord
num_genspeed
num_joints

Methods

`bid_iter`()	Returns a range over the body ids.
`export_digraph`(G, fn)	Draws a digraph to a file.
`get_all_director`()	Return director vector for all bodies.
`get_all_ellipsoid_shifters`()	Return the ellipsoid shifters for all bodies.
`get_coms`()	Return com for all bodies.
`get_gencoord`()	Called by timestepper to set initial condition.
`get_shifters`()	Return shifters for all bodies.
`jid_iter`()	Returns a range over the joint ids for looping sequentially.
`loop_jid_iter`()	Returns a range over the loop joint ids for looping sequentially.
`renormalize`()	Renormalizes unit quaternions in the joints.
`tofile`(time)	Write to output file.
`tree_jid_iter`()	Returns a range over the tree joint ids for looping sequentially.

close_files
constraints_violated
create_mbs
eval_position_constraints
eval_velocity_constraints
gencoord_correction
get_all_ellipsoid_a
get_all_ellipsoid_b
get_all_ellipsoid_c
get_all_oblate_a
get_all_oblate_c
get_all_prolate_a
get_all_prolate_c
get_all_radius
get_constraint_mat
get_gencoord_dot
get_partial_mat
get_torque_force
partition_gencoord
pullback
update

create_mbs(body_dict=None, joint_dict=None)[source]#

export_digraph(G, fn)[source]#: Draws a digraph to a file.

get_torque_force()[source]#

update(q, time)[source]#

eval_position_constraints()[source]#

eval_velocity_constraints()[source]#

constraints_violated(kind, tol)[source]#

gencoord_correction()[source]#

partition_gencoord()[source]#

pullback()[source]#

renormalize()[source]#: Renormalizes unit quaternions in the joints.

get_gencoord()[source]#: Called by timestepper to set initial condition.

get_gencoord_dot(u)[source]#

get_partial_mat()[source]#

get_constraint_mat()[source]#

get_coms()[source]#: Return com for all bodies.

get_shifters()[source]#: Return shifters for all bodies.

get_all_radius()[source]#

get_all_prolate_a()[source]#

get_all_prolate_c()[source]#

get_all_oblate_a()[source]#

get_all_oblate_c()[source]#

get_all_ellipsoid_a()[source]#

get_all_ellipsoid_b()[source]#

get_all_ellipsoid_c()[source]#

get_all_director()[source]#: Return director vector for all bodies.

get_all_ellipsoid_shifters()[source]#: Return the ellipsoid shifters for all bodies.

jid_iter()[source]#: Returns a range over the joint ids for looping sequentially.

tree_jid_iter()[source]#: Returns a range over the tree joint ids for looping sequentially.

loop_jid_iter()[source]#: Returns a range over the loop joint ids for looping sequentially.

bid_iter()[source]#: Returns a range over the body ids. The zero body is not included.

tofile(time)[source]#: Write to output file.

close_files()[source]#

property num_bodies#

property num_joints#

property num_gencoord#

property num_genspeed#

property num_constraints#

floripy.rbd.timestepper module#

Class implementing Kane’s method.

class floripy.rbd.timestepper.Timestepper(model, hydrodynamics, flowfield, **kwargs)[source]#

Bases: object

Interface to ODE integrator.

Methods

decomp_LTL(A[, overwrite, zero_upper, out])

Compute the LTL decomposition of a positive definite matrix.

run

static decomp_LTL(A, overwrite=False, zero_upper=True, out=None)[source]#: Compute the LTL decomposition of a positive definite matrix.

run()[source]#

floripy.rbd package#

Submodules#

floripy.rbd.bodymodels module#

floripy.rbd.jointmodels module#

floripy.rbd.mbs module#

floripy.rbd.timestepper module#

Module contents#