Angadh, your current tests don't really cover the use cases of the class. An
ideal set of tests would probably include a test for each problem case
individually and at least one test case problem that covers a problem that has
all dynamics features. This way you know that your class plays well
+N = ReferenceFrame('N')
+A = N.orientnew('A', 'Axis', [q, N.z])
+A.set_ang_vel(N, qd * N.z)
+
+# Next, we create the point O and fix it in the inertial frame. We then
+# locate the point P to which the bob is attached. Its corresponding
+# velocity is then
+
+mass_matrix : Matrix
+The system's mass matrix
+
+forcing : Matrix
+The system's forcing vector
+
+mass_matrix_full : Matrix
+The mass matrix for the qdot's, qdoubledot's, and the
+lagrange multipliers (lam)
+
+forcing_full : Matrix
+
+
+mass_matrix : Matrix
+The system's mass matrix
+
+forcing : Matrix
+The system's forcing vector
+
+mass_matrix_full : Matrix
+The mass matrix for the qdot's, qdoubledot's, and the
+lagrange multipliers (lam)
+
+forcing_full : Matrix
+
I'm not sure what you are disagreeing with, seems more like agreeing. I'm glad
you found the bug in the Kane class.
Yes, results should always check against well known results that are in
literature as the de facto test. I'm suggesting that both classes can test to
the same benchmark problems
I asked Mont if he know of a simpler problem than the bicycle which was full
featured and he suggested the unicycle with the riders leg(s). The leg and
crank form a four bar linkage. He doubted than anyone had the solution to this
problem written down, but it may be possible.
I was think of
@certik @Krastanov
So this pull request may take a while to get in. It implements a complicated
method and the testing is still weak. @angadhn pulled earlier than usual so
that we can comment on the code easily and discuss some of the issues. Is there
anyway not to get bombarded by the bots
Looks good to me too. Cuts down a lot of space with little loss of info.
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+
+ from sympy.physics.mechanics import Particle, Point, outer
+ from sympy.physics.mechanics import RigidBody, ReferenceFrame
+ from sympy import symbols
+ b = ReferenceFrame('b')
+ M, g, h = symbols('M g h')
+ P = Point('P')
+ I =
@angadhn FYI: the online docs also have the error:
http://docs.sympy.org/dev/modules/physics/mechanics/examples.html#the-rolling-disc
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