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PlanarMechanics.OneDOFRollingWheelJointTest.md

PlanarMechanics.OneDOFRollingWheelJointTest ​

Test for OneDOFRollingWheelJoint: a body connected to an ideal rolling wheel.

A body (m=0.1, I=0.01) with initial angular velocity w=1 rad/s on a wheel of radius 1. Gravity pulls the body down, constraining it on the ground. Translates the "OneDOFRollingWheelJoint" test from test_PlanarMechanics.jl.

Usage ​

MultibodyComponents.PlanarMechanics.OneDOFRollingWheelJointTest()

Behavior ​

[connect(wheelJoint+framea,body+framea)world.frameb.x(t)=0world.frameb.y(t)=0world.frameb.phi(t)=0connect(frameb,framevis+frame_a)world.framevis.phi(t)=world.framevis.frame_a.phi(t)world.framevis.x_shape.r(t)=arrayliteral([3],world.framevis.frame_a.x(t),world.framevis.frame_a.y(t),world.framevis.z_position)world.framevis.x_shape.R(t)=arrayliteral([33],cos⁡(−world.framevis.phi(t)),sin⁡(−world.framevis.phi(t)),0,−sin⁡(−world.framevis.phi(t)),cos⁡(−world.framevis.phi(t)),0,0,0,1)world.framevis.x_shape.r_shape(t)=[000]world.framevis.x_shape.length_direction(t)=[100]world.framevis.x_shape.width_direction(t)=[001]world.framevis.x_shape.length(t)=world.framevis.axis_lengthworld.framevis.x_shape.width(t)=2⋅world.framevis.axis_radiusworld.framevis.x_shape.height(t)=2⋅world.framevis.axis_radiusworld.framevis.y_shape.r(t)=arrayliteral([3],world.framevis.frame_a.x(t),world.framevis.frame_a.y(t),world.framevis.z_position)world.framevis.y_shape.R(t)=arrayliteral([33],cos⁡(−world.framevis.phi(t)),sin⁡(−world.framevis.phi(t)),0,−sin⁡(−world.framevis.phi(t)),cos⁡(−world.framevis.phi(t)),0,0,0,1)world.framevis.y_shape.r_shape(t)=[000]world.framevis.y_shape.length_direction(t)=[010]world.framevis.y_shape.width_direction(t)=[001]world.framevis.y_shape.length(t)=world.framevis.axis_lengthworld.framevis.y_shape.width(t)=2⋅world.framevis.axis_radiusworld.framevis.y_shape.height(t)=2⋅world.framevis.axis_radiusworld.framevis.z_shape.r(t)=arrayliteral([3],world.framevis.frame_a.x(t),world.framevis.frame_a.y(t),world.framevis.z_position)world.framevis.z_shape.R(t)=arrayliteral([33],cos⁡(−world.framevis.phi(t)),sin⁡(−world.framevis.phi(t)),0,−sin⁡(−world.framevis.phi(t)),cos⁡(−world.framevis.phi(t)),0,0,0,1)world.framevis.z_shape.r_shape(t)=[000]world.framevis.z_shape.length_direction(t)=[001]world.framevis.z_shape.width_direction(t)=[100]world.framevis.z_shape.length(t)=world.framevis.axis_lengthworld.framevis.z_shape.width(t)=2⋅world.framevis.axis_radiusworld.framevis.z_shape.height(t)=2⋅world.framevis.axis_radiusbody.r(t)=arrayliteral([2],body.framea.x(t),body.framea.y(t))body.v(t)=d⋅body.r(t)dtbody.phi(t)=body.framea.phi(t)body.w(t)=d⋅body.phi(t)dtbody.a(t)=d⋅body.v(t)dtbody.alpha(t)=d⋅body.w(t)dtbody.f(t)=arrayliteral([2],body.framea.fx(t),body.framea.fy(t))body.f(t)+arrayliteral([2],body.m⋅g⋅n2d1,body.m⋅g⋅n2d2)=body.m⋅body.a(t)body.I⋅body.alpha(t)=body.framea.tau(t)body.shape.r(t)=arrayliteral([3],body.framea.x(t),body.framea.y(t),body.zposition)body.shape.R(t)=arrayliteral([33],cos⁡(−body.phi(t)),sin⁡(−body.phi(t)),0,−sin⁡(−body.phi(t)),cos⁡(−body.phi(t)),0,0,0,1)body.shape.rshape(t)=[000]body.shape.lengthdirection(t)=[001]body.shape.widthdirection(t)=[100]body.shape.length(t)=2⋅body.radiusbody.shape.width(t)=2⋅body.radiusbody.shape.height(t)=2⋅body.radiuswheelJoint.phiroll(t)=−wheelJoint.framea.phi(t)wheelJoint.wroll(t)=d⋅wheelJoint.phiroll(t)dtwheelJoint.x(t)=wheelJoint.framea.x(t)wheelJoint.v(t)=d⋅wheelJoint.x(t)dtwheelJoint.x(t)=wheelJoint.x0+wheelJoint.radius⋅wheelJoint.phiroll(t)wheelJoint.framea.tau(t)=wheelJoint.radius⋅wheelJoint.framea.fx(t)wheelJoint.framea.y(t)=wheelJoint.radiuswheelJoint.tireshape.r(t)=arrayliteral([3],wheelJoint.framea.x(t),wheelJoint.framea.y(t),wheelJoint.zposition)wheelJoint.tireshape.R(t)=arrayliteral([33],1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0)wheelJoint.tireshape.r_shape(t)=arrayliteral([3],0,0,−12⋅wheelJoint.wheelwidth)wheelJoint.tireshape.length_direction(t)=[001]wheelJoint.tireshape.width_direction(t)=[010]wheelJoint.tireshape.length(t)=wheelJoint.wheelwidthwheelJoint.tireshape.width(t)=2⋅wheelJoint.radiuswheelJoint.tireshape.height(t)=2⋅wheelJoint.radiuswheelJoint.rim1shape.r(t)=arrayliteral([3],wheelJoint.framea.x(t),wheelJoint.framea.y(t),wheelJoint.zposition)wheelJoint.rim1shape.R(t)=arrayliteral([33],cos⁡(wheelJoint.phiroll(t)),−sin⁡(wheelJoint.phiroll(t)),0,sin⁡(wheelJoint.phiroll(t)),cos⁡(wheelJoint.phiroll(t)),0,0,0,1)wheelJoint.rim1shape.r_shape(t)=arrayliteral([3],−wheelJoint.radius,0,0)wheelJoint.rim1shape.length_direction(t)=[100]wheelJoint.rim1shape.width_direction(t)=[010]wheelJoint.rim1shape.length(t)=2⋅wheelJoint.radiuswheelJoint.rim1shape.width(t)=wheelJoint.rimdiameterwheelJoint.rim1shape.height(t)=wheelJoint.rimdiameterwheelJoint.rim2shape.r(t)=arrayliteral([3],wheelJoint.framea.x(t),wheelJoint.framea.y(t),wheelJoint.zposition)wheelJoint.rim2shape.R(t)=arrayliteral([33],cos⁡(1.570796326794895+wheelJoint.phiroll(t)),−sin⁡(1.570796326794895+wheelJoint.phiroll(t)),0,sin⁡(1.570796326794895+wheelJoint.phiroll(t)),cos⁡(1.570796326794895+wheelJoint.phiroll(t)),0,0,0,1)wheelJoint.rim2shape.r_shape(t)=arrayliteral([3],−wheelJoint.radius,0,0)wheelJoint.rim2shape.length_direction(t)=[100]wheelJoint.rim2shape.width_direction(t)=[010]wheelJoint.rim2shape.length(t)=2⋅wheelJoint.radiuswheelJoint.rim2shape.width(t)=wheelJoint.rimdiameterwheelJoint.rim2shape.height(t)=wheelJoint.rimdiameter]

Source ​

dyad
"""
Test for OneDOFRollingWheelJoint: a body connected to an ideal rolling wheel.

A body (m=0.1, I=0.01) with initial angular velocity w=1 rad/s on a wheel of radius 1.
Gravity pulls the body down, constraining it on the ground.
Translates the "OneDOFRollingWheelJoint" test from test_PlanarMechanics.jl.
"""
test component OneDOFRollingWheelJointTest
  world = World(g = 9.82) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 10, "y1": 880, "x2": 110, "y2": 980, "rot": 0}
      },
      "tags": []
    }
  }
  body = Body(m = 0.1, I = 0.01) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 400, "y1": 240, "x2": 600, "y2": 440, "rot": 270}
      },
      "tags": []
    }
  }
  wheelJoint = OneDOFRollingWheelJoint(radius = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 400, "y1": 570, "x2": 600, "y2": 770, "rot": 0}
      },
      "tags": []
    }
  }
relations
  initial body.phi = 0.0
  initial body.w = 1.0
  connect(wheelJoint.frame_a, body.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 10}}}}
end
Flattened Source
dyad
"""
Test for OneDOFRollingWheelJoint: a body connected to an ideal rolling wheel.

A body (m=0.1, I=0.01) with initial angular velocity w=1 rad/s on a wheel of radius 1.
Gravity pulls the body down, constraining it on the ground.
Translates the "OneDOFRollingWheelJoint" test from test_PlanarMechanics.jl.
"""
test component OneDOFRollingWheelJointTest
  world = World(g = 9.82) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 10, "y1": 880, "x2": 110, "y2": 980, "rot": 0}
      },
      "tags": []
    }
  }
  body = Body(m = 0.1, I = 0.01) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 400, "y1": 240, "x2": 600, "y2": 440, "rot": 270}
      },
      "tags": []
    }
  }
  wheelJoint = OneDOFRollingWheelJoint(radius = 1) {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 400, "y1": 570, "x2": 600, "y2": 770, "rot": 0}
      },
      "tags": []
    }
  }
relations
  initial body.phi = 0.0
  initial body.w = 1.0
  connect(wheelJoint.frame_a, body.frame_a) {"Dyad": {"edges": [{"S": 1, "M": [], "E": 2}], "renderStyle": "standard"}}
metadata {"Dyad": {"tests": {"case1": {"stop": 10}}}}
end


Test Cases ​

Test Case case1 ​