Dyad

Appearance

LIBRARY
PlanarMechanics.PlanarToMultiBodyEmbeddedTest.md

PlanarMechanics.PlanarToMultiBodyEmbeddedTest ​

Embedding test of PlanarToMultiBody: the planar world is mounted at a nonzero 3D offset (r_0_3d) so the lifted 3D frame is shifted by that offset in addition to the out-of-plane z_position.

Usage ​

MultibodyComponents.PlanarMechanics.PlanarToMultiBodyEmbeddedTest()

Behavior ​

julia
using MultibodyComponents #hide
using ModelingToolkit #hide
@named sys = MultibodyComponents.PlanarMechanics.PlanarToMultiBodyEmbeddedTest() #hide
let eqs = full_equations(sys); Base.length(eqs) > 25 ? nothing : eqs end #hide
<< @example-block not executed in draft mode >>

Source ​

dyad
"""
Embedding test of `PlanarToMultiBody`: the planar world is mounted at a nonzero
3D offset (`r_0_3d`) so the lifted 3D frame is shifted by that offset in
addition to the out-of-plane `z_position`.
"""
test component PlanarToMultiBodyEmbeddedTest
  world = World(r_0_3d = [1.0, 2.0, 3.0]) {}
  prescribed = PrescribedPose() {}
  body = Body(m = 1.0, I = 1.0) {}
  adapter = PlanarToMultiBody(z_position = 0.5) {}
  sensor = MultibodyComponents.AbsoluteAngles() {}
relations
  prescribed.r_x = time
  prescribed.r_y = 0.5 * time
  prescribed.phi = 0.3 * time
  connect(prescribed.frame_b, body.frame_a, adapter.frame_a) {}
  connect(adapter.frame_b, sensor.frame_a) {}
end
Flattened Source
dyad
"""
Embedding test of `PlanarToMultiBody`: the planar world is mounted at a nonzero
3D offset (`r_0_3d`) so the lifted 3D frame is shifted by that offset in
addition to the out-of-plane `z_position`.
"""
test component PlanarToMultiBodyEmbeddedTest
  world = World(r_0_3d = [1.0, 2.0, 3.0]) {}
  prescribed = PrescribedPose() {}
  body = Body(m = 1.0, I = 1.0) {}
  adapter = PlanarToMultiBody(z_position = 0.5) {}
  sensor = MultibodyComponents.AbsoluteAngles() {}
relations
  prescribed.r_x = time
  prescribed.r_y = 0.5 * time
  prescribed.phi = 0.3 * time
  connect(prescribed.frame_b, body.frame_a, adapter.frame_a) {}
  connect(adapter.frame_b, sensor.frame_a) {}
metadata {}
end


Test Cases ​

No test cases defined.