Skip to content

WIP: use symbolic arrays #60

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
wants to merge 1 commit into
base: main
Choose a base branch
from
Draft

WIP: use symbolic arrays #60

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
30 changes: 15 additions & 15 deletions src/components.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -250,7 +250,7 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.

I = [I_11 I_21 I_31; I_21 I_22 I_32; I_31 I_32 I_33]

r_0, v_0, a_0, g_0, w_a, z_a, r_cm = collect.((r_0, v_0, a_0, g_0, w_a, z_a, r_cm))
# r_0, v_0, a_0, g_0, w_a, z_a, r_cm = collect.((r_0, v_0, a_0, g_0, w_a, z_a, r_cm))

# DRa = D(Ra)

Expand All @@ -272,25 +272,25 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.
Ra ~ ar
Ra.w .~ ar.w
Q.w .~ ar.w
collect(w_a .~ Ra.w)
w_a ~ Ra.w
]
else
@named frame_a = Frame(varw = true)
@variables phi(t)[1:3]=phi0 [state_priority = 10, description = "Euler angles"]
@variables phid(t)[1:3]=phid0 [state_priority = 10]
@variables phidd(t)[1:3]=zeros(3) [state_priority = 10]
phi, phid, phidd = collect.((phi, phid, phidd))
# phi, phid, phidd = collect.((phi, phid, phidd))
ar = axesRotations([1, 2, 3], phi, phid)

Ra = ori(frame_a, true)

Equation[
# 0 .~ orientation_constraint(Ra);
phid .~ D.(phi)
phidd .~ D.(phid)
phid ~ D(phi)
phidd ~ D(phid)
Ra ~ ar
Ra.w .~ ar.w
collect(w_a .~ Ra.w)]
w_a ~ Ra.w]
end
else
@named frame_a = Frame()
Expand All @@ -299,19 +299,19 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.
Equation[
# collect(w_a .~ DRa.w); # angularVelocity2(R, D.(R)): skew(R.w) = R.T*der(transpose(R.T))
# vec(DRa.R .~ 0)
collect(w_a .~ angularVelocity2(Ra));]
w_a ~ angularVelocity2(Ra);]
end

eqs = [eqs;
# collect(w_a .~ get_w(Ra));
collect(r_0 .~ frame_a.r_0)
collect(g_0 .~ gravity_acceleration(frame_a.r_0 .+ resolve1(Ra, r_cm)))
collect(v_0 .~ D.(r_0))
collect(a_0 .~ D.(v_0))
collect(z_a .~ D.(w_a))
collect(frame_a.f .~ m * (resolve2(Ra, a_0 - g_0) + cross(z_a, r_cm) +
# (w_a .~ get_w(Ra));
(r_0 ~ frame_a.r_0)
(g_0 ~ gravity_acceleration(frame_a.r_0 .+ resolve1(Ra, r_cm)))
(v_0 ~ D(r_0))
(a_0 ~ D(v_0))
(z_a ~ D(w_a))
(frame_a.f ~ m * (resolve2(Ra, a_0 - g_0) + cross(z_a, r_cm) +
cross(w_a, cross(w_a, r_cm))))
collect(frame_a.tau .~ I * z_a + cross(w_a, I * w_a) + cross(r_cm, frame_a.f))]
(frame_a.tau ~ I * z_a + cross(w_a, I * w_a) + cross(r_cm, frame_a.f))]

# pars = [m;r_cm;radius;I_11;I_22;I_33;I_21;I_31;I_32;]

Expand Down
Loading