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tests.TestCableCut.md

tests.TestCableCut ​

Cable with a SphericalSpherical end rod (iscut = true) suspended between two fixed mounts, closing a kinematic loop between two rooted frames. The cable is longer than the distance between the mounts, so it sags under gravity and swings.

Usage ​

MultibodyComponents.tests.TestCableCut()

Parameters: ​

NameDescriptionUnitsDefault value
number_of_links–4
end_joints–true

Behavior ​

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

Source ​

dyad
"""
Cable with a `SphericalSpherical` end rod (`iscut = true`) suspended between
two fixed mounts, closing a kinematic loop between two rooted frames. The
cable is longer than the distance between the mounts, so it sags under
gravity and swings.
"""
test component TestCableCut
  world = MultibodyComponents.World()
  mount = MultibodyComponents.Fixed(r = [1.5, 0, 0])
  cable = MultibodyComponents.Cable(n = number_of_links, iscut = true, end_joints = end_joints, l = 2, m = 4, dir = [1, 0, 0], radius = 0.02, initialize_orientation = false)
  structural parameter number_of_links::Integer = 4
  structural parameter end_joints::Boolean = true
relations
  connect(world.frame_b, cable.frame_a)
  connect(cable.frame_b, mount.frame_b)
end
Flattened Source
dyad
"""
Cable with a `SphericalSpherical` end rod (`iscut = true`) suspended between
two fixed mounts, closing a kinematic loop between two rooted frames. The
cable is longer than the distance between the mounts, so it sags under
gravity and swings.
"""
test component TestCableCut
  world = MultibodyComponents.World()
  mount = MultibodyComponents.Fixed(r = [1.5, 0, 0])
  cable = MultibodyComponents.Cable(n = number_of_links, iscut = true, end_joints = end_joints, l = 2, m = 4, dir = [1, 0, 0], radius = 0.02, initialize_orientation = false)
  structural parameter number_of_links::Integer = 4
  structural parameter end_joints::Boolean = true
relations
  connect(world.frame_b, cable.frame_a)
  connect(cable.frame_b, mount.frame_b)
metadata {}
end


Test Cases ​

No test cases defined.