If you have an interest in quaternions you might find the following link
of interest -
https://galgebra.readthedocs.io/en/latest/
and the following mechanics book -
https://smile.amazon.com/Foundations-Classical-Mechanics-Fundamental-1999-09-30/dp/B01FEKI34A/ref=sr_1_4?crid=1U2EBC2UI9BL9&keywords=david+hestenes&qid=1649362231&sprefix=david+hestenes%2Caps%2C50&sr=8-4
On 4/7/22 3:51 PM, Aaron Meurer wrote:
Hi Timo and welcome.
Someone who has more knowledge of the mechanics module will need to
answer your specific question about quaternions. I will point out that
SymPy does have a quaternions module in sympy.algebras.quaternions, so
you would most likely want to make use of that for that project.
If you haven't seen it already, be aware of the patch requirement for
GSoC. https://github.com/sympy/sympy/wiki/GSoC-Student-Instructions.
You will need to make at least one pull request to SymPy that gets
accepted. It doesn't necessarily have to be related to your project,
so you can start by finding a bug to fix.
Aaron Meurer
On Thu, Apr 7, 2022 at 6:53 AM Timo Stienstra <timostienstr...@gmail.com> wrote:
Hello everyone,
My name is Timo Stienstra. After completing my BSc. Mechanical Engineering with
a minor Computer Science, I am now in my first year MSc. Mechanical Engineering
student at Delft University of Technology. Here I follow the track
BioMechanical Design, where I also specialize myself in robotics.
I am interested in contributing to the mechanics module of SymPy, but for GSoC
I would specifically like to focus on further developing construction of
systems from bodies and joints.
However I am not sure how to interpret one of the suggested next steps, namely
Make the rotations quaternion based. Could someone elaborate on what is meant
with this step?
I know that the orientation of the child body with respect to the parent could
be described by a quaternion, but the orientation is in the end saved as a
rotation matrix within the ReferenceFrame objects. And I do not think that the
goal of this step is changing this in the ReferenceFrame class.
Regards,
Timo Stienstra
GitHub: https://github.com/TJStienstra
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