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tests.SphericalPendulumQuatJoint.md

tests.SphericalPendulumQuatJoint ​

Spherical Pendulum (quaternion state in joint) ​

Same geometry as SphericalPendulum but the orientation state lives in the joint as a quaternion. Mirrors the "Spherical joint with quaternion state" test in Multibody/test/basic_tests.jl.

Usage ​

MultibodyComponents.tests.SphericalPendulumQuatJoint()

Behavior ​

Source ​

dyad
"""
# Spherical Pendulum (quaternion state in joint)

Same geometry as `SphericalPendulum` but the orientation state lives in the
joint as a quaternion. Mirrors the
"Spherical joint with quaternion state" test in
`Multibody/test/basic_tests.jl`.
"""
example component SphericalPendulumQuatJoint
  world = MultibodyComponents.World() {}
  joint = MultibodyComponents.Spherical(orientation_state = OrientationState.Quaternion()) {}
  rod = MultibodyComponents.FixedTranslation(r = [1.0, 0, 0]) {}
  body = MultibodyComponents.Body(m = 1) {}
relations
  connect(world.frame_b, joint.frame_a) {}
  connect(joint.frame_b, rod.frame_a) {}
  connect(rod.frame_b, body.frame_a) {}
end
Flattened Source
dyad
"""
# Spherical Pendulum (quaternion state in joint)

Same geometry as `SphericalPendulum` but the orientation state lives in the
joint as a quaternion. Mirrors the
"Spherical joint with quaternion state" test in
`Multibody/test/basic_tests.jl`.
"""
example component SphericalPendulumQuatJoint
  world = MultibodyComponents.World() {}
  joint = MultibodyComponents.Spherical(orientation_state = OrientationState.Quaternion()) {}
  rod = MultibodyComponents.FixedTranslation(r = [1.0, 0, 0]) {}
  body = MultibodyComponents.Body(m = 1) {}
relations
  connect(world.frame_b, joint.frame_a) {}
  connect(joint.frame_b, rod.frame_a) {}
  connect(rod.frame_b, body.frame_a) {}
metadata {}
end


Test Cases ​

No test cases defined.

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