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tests.PrescribedPositionTest.md

tests.PrescribedPositionTest ​

Prescribed Position Test ​

A body whose frame_a is driven by a PrescribedPosition component with time-varying position inputs. Position should match [sin(t), 2t, cos(t)].

Usage ​

MultibodyComponents.tests.PrescribedPositionTest()

Behavior ​

Source ​

dyad
"""
# Prescribed Position Test

A body whose `frame_a` is driven by a `PrescribedPosition` component with
time-varying position inputs. Position should match `[sin(t), 2t, cos(t)]`.
"""
example component PrescribedPositionTest
  world = MultibodyComponents.World() {}
  prescribed = MultibodyComponents.PrescribedPosition() {}
  body = MultibodyComponents.Body(m = 1, r_cm = [0, 0, 0]) {}
relations
  prescribed.r_x = sin(time)
  prescribed.r_y = 2 * time
  prescribed.r_z = cos(time)
  connect(prescribed.frame_b, body.frame_a) {}
end
Flattened Source
dyad
"""
# Prescribed Position Test

A body whose `frame_a` is driven by a `PrescribedPosition` component with
time-varying position inputs. Position should match `[sin(t), 2t, cos(t)]`.
"""
example component PrescribedPositionTest
  world = MultibodyComponents.World() {}
  prescribed = MultibodyComponents.PrescribedPosition() {}
  body = MultibodyComponents.Body(m = 1, r_cm = [0, 0, 0]) {}
relations
  prescribed.r_x = sin(time)
  prescribed.r_y = 2 * time
  prescribed.r_z = cos(time)
  connect(prescribed.frame_b, body.frame_a) {}
metadata {}
end


Test Cases ​

No test cases defined.