367 lines
11 KiB
Python
367 lines
11 KiB
Python
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from sympy.core.backend import sympify
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from sympy.physics.vector import Point, ReferenceFrame, Dyadic
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from sympy.utilities.exceptions import sympy_deprecation_warning
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__all__ = ['RigidBody']
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class RigidBody:
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"""An idealized rigid body.
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Explanation
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===========
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This is essentially a container which holds the various components which
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describe a rigid body: a name, mass, center of mass, reference frame, and
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inertia.
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All of these need to be supplied on creation, but can be changed
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afterwards.
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Attributes
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==========
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name : string
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The body's name.
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masscenter : Point
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The point which represents the center of mass of the rigid body.
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frame : ReferenceFrame
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The ReferenceFrame which the rigid body is fixed in.
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mass : Sympifyable
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The body's mass.
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inertia : (Dyadic, Point)
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The body's inertia about a point; stored in a tuple as shown above.
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Examples
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========
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>>> from sympy import Symbol
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>>> from sympy.physics.mechanics import ReferenceFrame, Point, RigidBody
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>>> from sympy.physics.mechanics import outer
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>>> m = Symbol('m')
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>>> A = ReferenceFrame('A')
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>>> P = Point('P')
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>>> I = outer (A.x, A.x)
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>>> inertia_tuple = (I, P)
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>>> B = RigidBody('B', P, A, m, inertia_tuple)
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>>> # Or you could change them afterwards
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>>> m2 = Symbol('m2')
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>>> B.mass = m2
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"""
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def __init__(self, name, masscenter, frame, mass, inertia):
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if not isinstance(name, str):
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raise TypeError('Supply a valid name.')
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self._name = name
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self.masscenter = masscenter
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self.mass = mass
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self.frame = frame
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self.inertia = inertia
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self.potential_energy = 0
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def __str__(self):
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return self._name
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def __repr__(self):
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return self.__str__()
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@property
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def frame(self):
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"""The ReferenceFrame fixed to the body."""
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return self._frame
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@frame.setter
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def frame(self, F):
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if not isinstance(F, ReferenceFrame):
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raise TypeError("RigidBody frame must be a ReferenceFrame object.")
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self._frame = F
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@property
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def masscenter(self):
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"""The body's center of mass."""
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return self._masscenter
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@masscenter.setter
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def masscenter(self, p):
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if not isinstance(p, Point):
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raise TypeError("RigidBody center of mass must be a Point object.")
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self._masscenter = p
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@property
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def mass(self):
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"""The body's mass."""
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return self._mass
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@mass.setter
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def mass(self, m):
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self._mass = sympify(m)
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@property
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def inertia(self):
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"""The body's inertia about a point; stored as (Dyadic, Point)."""
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return (self._inertia, self._inertia_point)
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@inertia.setter
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def inertia(self, I):
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if not isinstance(I[0], Dyadic):
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raise TypeError("RigidBody inertia must be a Dyadic object.")
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if not isinstance(I[1], Point):
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raise TypeError("RigidBody inertia must be about a Point.")
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self._inertia = I[0]
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self._inertia_point = I[1]
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# have I S/O, want I S/S*
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# I S/O = I S/S* + I S*/O; I S/S* = I S/O - I S*/O
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# I_S/S* = I_S/O - I_S*/O
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from sympy.physics.mechanics.functions import inertia_of_point_mass
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I_Ss_O = inertia_of_point_mass(self.mass,
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self.masscenter.pos_from(I[1]),
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self.frame)
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self._central_inertia = I[0] - I_Ss_O
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@property
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def central_inertia(self):
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"""The body's central inertia dyadic."""
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return self._central_inertia
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@central_inertia.setter
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def central_inertia(self, I):
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if not isinstance(I, Dyadic):
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raise TypeError("RigidBody inertia must be a Dyadic object.")
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self.inertia = (I, self.masscenter)
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def linear_momentum(self, frame):
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""" Linear momentum of the rigid body.
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Explanation
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===========
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The linear momentum L, of a rigid body B, with respect to frame N is
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given by:
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L = M * v*
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where M is the mass of the rigid body and v* is the velocity of
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the mass center of B in the frame, N.
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Parameters
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==========
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frame : ReferenceFrame
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The frame in which linear momentum is desired.
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Examples
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========
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>>> from sympy.physics.mechanics import Point, ReferenceFrame, outer
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>>> from sympy.physics.mechanics import RigidBody, dynamicsymbols
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>>> from sympy.physics.vector import init_vprinting
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>>> init_vprinting(pretty_print=False)
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>>> M, v = dynamicsymbols('M v')
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>>> N = ReferenceFrame('N')
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>>> P = Point('P')
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>>> P.set_vel(N, v * N.x)
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>>> I = outer (N.x, N.x)
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>>> Inertia_tuple = (I, P)
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>>> B = RigidBody('B', P, N, M, Inertia_tuple)
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>>> B.linear_momentum(N)
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M*v*N.x
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"""
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return self.mass * self.masscenter.vel(frame)
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def angular_momentum(self, point, frame):
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"""Returns the angular momentum of the rigid body about a point in the
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given frame.
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Explanation
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===========
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The angular momentum H of a rigid body B about some point O in a frame
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N is given by:
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``H = dot(I, w) + cross(r, M * v)``
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where I is the central inertia dyadic of B, w is the angular velocity
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of body B in the frame, N, r is the position vector from point O to the
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mass center of B, and v is the velocity of the mass center in the
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frame, N.
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Parameters
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==========
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point : Point
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The point about which angular momentum is desired.
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frame : ReferenceFrame
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The frame in which angular momentum is desired.
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Examples
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========
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>>> from sympy.physics.mechanics import Point, ReferenceFrame, outer
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>>> from sympy.physics.mechanics import RigidBody, dynamicsymbols
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>>> from sympy.physics.vector import init_vprinting
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>>> init_vprinting(pretty_print=False)
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>>> M, v, r, omega = dynamicsymbols('M v r omega')
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>>> N = ReferenceFrame('N')
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>>> b = ReferenceFrame('b')
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>>> b.set_ang_vel(N, omega * b.x)
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>>> P = Point('P')
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>>> P.set_vel(N, 1 * N.x)
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>>> I = outer(b.x, b.x)
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>>> B = RigidBody('B', P, b, M, (I, P))
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>>> B.angular_momentum(P, N)
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omega*b.x
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"""
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I = self.central_inertia
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w = self.frame.ang_vel_in(frame)
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m = self.mass
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r = self.masscenter.pos_from(point)
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v = self.masscenter.vel(frame)
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return I.dot(w) + r.cross(m * v)
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def kinetic_energy(self, frame):
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"""Kinetic energy of the rigid body.
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Explanation
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===========
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The kinetic energy, T, of a rigid body, B, is given by:
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``T = 1/2 * (dot(dot(I, w), w) + dot(m * v, v))``
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where I and m are the central inertia dyadic and mass of rigid body B,
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respectively, omega is the body's angular velocity and v is the
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velocity of the body's mass center in the supplied ReferenceFrame.
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Parameters
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==========
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frame : ReferenceFrame
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The RigidBody's angular velocity and the velocity of it's mass
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center are typically defined with respect to an inertial frame but
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any relevant frame in which the velocities are known can be supplied.
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Examples
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========
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>>> from sympy.physics.mechanics import Point, ReferenceFrame, outer
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>>> from sympy.physics.mechanics import RigidBody
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>>> from sympy import symbols
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>>> M, v, r, omega = symbols('M v r omega')
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>>> N = ReferenceFrame('N')
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>>> b = ReferenceFrame('b')
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>>> b.set_ang_vel(N, omega * b.x)
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>>> P = Point('P')
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>>> P.set_vel(N, v * N.x)
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>>> I = outer (b.x, b.x)
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>>> inertia_tuple = (I, P)
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>>> B = RigidBody('B', P, b, M, inertia_tuple)
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>>> B.kinetic_energy(N)
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M*v**2/2 + omega**2/2
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"""
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rotational_KE = (self.frame.ang_vel_in(frame) & (self.central_inertia &
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self.frame.ang_vel_in(frame)) / sympify(2))
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translational_KE = (self.mass * (self.masscenter.vel(frame) &
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self.masscenter.vel(frame)) / sympify(2))
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return rotational_KE + translational_KE
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@property
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def potential_energy(self):
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"""The potential energy of the RigidBody.
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Examples
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========
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>>> from sympy.physics.mechanics import RigidBody, Point, outer, ReferenceFrame
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>>> from sympy import symbols
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>>> M, g, h = symbols('M g h')
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>>> b = ReferenceFrame('b')
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>>> P = Point('P')
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>>> I = outer (b.x, b.x)
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>>> Inertia_tuple = (I, P)
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>>> B = RigidBody('B', P, b, M, Inertia_tuple)
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>>> B.potential_energy = M * g * h
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>>> B.potential_energy
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M*g*h
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"""
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return self._pe
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@potential_energy.setter
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def potential_energy(self, scalar):
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"""Used to set the potential energy of this RigidBody.
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Parameters
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==========
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scalar: Sympifyable
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The potential energy (a scalar) of the RigidBody.
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Examples
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========
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>>> from sympy.physics.mechanics import Point, outer
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>>> from sympy.physics.mechanics import RigidBody, ReferenceFrame
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>>> from sympy import symbols
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>>> b = ReferenceFrame('b')
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>>> M, g, h = symbols('M g h')
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>>> P = Point('P')
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>>> I = outer (b.x, b.x)
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>>> Inertia_tuple = (I, P)
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>>> B = RigidBody('B', P, b, M, Inertia_tuple)
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>>> B.potential_energy = M * g * h
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"""
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self._pe = sympify(scalar)
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def set_potential_energy(self, scalar):
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sympy_deprecation_warning(
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"""
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The sympy.physics.mechanics.RigidBody.set_potential_energy()
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method is deprecated. Instead use
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B.potential_energy = scalar
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""",
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deprecated_since_version="1.5",
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active_deprecations_target="deprecated-set-potential-energy",
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)
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self.potential_energy = scalar
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def parallel_axis(self, point, frame=None):
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"""Returns the inertia dyadic of the body with respect to another
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point.
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Parameters
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==========
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point : sympy.physics.vector.Point
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The point to express the inertia dyadic about.
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frame : sympy.physics.vector.ReferenceFrame
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The reference frame used to construct the dyadic.
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Returns
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=======
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inertia : sympy.physics.vector.Dyadic
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The inertia dyadic of the rigid body expressed about the provided
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point.
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"""
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# circular import issue
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from sympy.physics.mechanics.functions import inertia_of_point_mass
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if frame is None:
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frame = self.frame
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return self.central_inertia + inertia_of_point_mass(
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self.mass, self.masscenter.pos_from(point), frame)
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