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PlanarMechanics.PrescribedPoseTest.md

PlanarMechanics.PrescribedPoseTest ​

A body whose frame_a is driven by a PrescribedPose component. Position follows [t, 0.5t] and the rotation angle grows at constant rate.

Usage ​

MultibodyComponents.PlanarMechanics.PrescribedPoseTest()

Behavior ​

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

Source ​

dyad
"""
A body whose `frame_a` is driven by a `PrescribedPose` component. Position
follows `[t, 0.5t]` and the rotation angle grows at constant rate.
"""
test component PrescribedPoseTest
  world = World() {}
  prescribed = PrescribedPose() {}
  body = Body(m = 1, I = 1) {}
relations
  prescribed.r_x = time
  prescribed.r_y = 0.5 * time
  prescribed.phi = 0.3 * time
  connect(prescribed.frame_b, body.frame_a) {}
end
Flattened Source
dyad
"""
A body whose `frame_a` is driven by a `PrescribedPose` component. Position
follows `[t, 0.5t]` and the rotation angle grows at constant rate.
"""
test component PrescribedPoseTest
  world = World() {}
  prescribed = PrescribedPose() {}
  body = Body(m = 1, I = 1) {}
relations
  prescribed.r_x = time
  prescribed.r_y = 0.5 * time
  prescribed.phi = 0.3 * time
  connect(prescribed.frame_b, body.frame_a) {}
metadata {}
end


Test Cases ​

No test cases defined.