follow a more julian naming convention

docs/src/examples/free_motion.md

@@ -1,5 +1,5 @@
 # Free motions
-This example demonstrates how a free-floating [`Body`](@ref) can be simulated. The body is attached to the world through a [`FreeMotion`](@ref) joint, i.e., a joint that imposes no constraints. The joint is required to add the appropriate relative state variables between the world and the body. We choose `enforceState = true` and `isroot = true` in the [`FreeMotion`](@ref) constructor.
+This example demonstrates how a free-floating [`Body`](@ref) can be simulated. The body is attached to the world through a [`FreeMotion`](@ref) joint, i.e., a joint that imposes no constraints. The joint is required to add the appropriate relative state variables between the world and the body. We choose `state = true` and `isroot = true` in the [`FreeMotion`](@ref) constructor.
 
 ```@example FREE_MOTION
 using Multibody
@@ -12,7 +12,7 @@ t = Multibody.t
 D = Differential(t)
 world = Multibody.world
 
-@named freeMotion = FreeMotion(enforceState = true, isroot = true)
+@named freeMotion = FreeMotion(state = true, isroot = true)
 @named body = Body(m = 1)
 
 eqs = [connect(world.frame_b, freeMotion.frame_a)

docs/src/examples/gearbox.md

@@ -21,7 +21,7 @@ systems = @named begin
  gearConstraint = GearConstraint(; ratio = 10)
  cyl1 = Body(; m = 1, r_cm = [0.4, 0, 0])
  cyl2 = Body(; m = 1, r_cm = [0.4, 0, 0])
- torque1 = Torque(resolveInFrame = :frame_b)
+ torque1 = Torque(resolve_frame = :frame_b)
  fixed = Fixed() 
  inertia1 = Rotational.Inertia(J = cyl1.I_11)
  idealGear = Rotational.IdealGear(ratio = 10, use_support = true)

docs/src/examples/kinematic_loops.md

@@ -22,8 +22,8 @@ D = Differential(t)
 world = Multibody.world
 
 systems = @named begin
- j1 = Revolute(useAxisFlange=true) # We use an axis flange to attach a damper
- j2 = Revolute(useAxisFlange=true)
+ j1 = Revolute(axisflange=true) # We use an axis flange to attach a damper
+ j2 = Revolute(axisflange=true)
  j3 = Revolute()
  j4 = RevolutePlanarLoopConstraint()
  j5 = Revolute()

docs/src/examples/pendulum.md

@@ -79,10 +79,10 @@ nothing # hide
 By default, the world frame is indicated using the convention x: red, y: green, z: blue. The animation shows how the simple [`Body`](@ref) represents a point mass at a particular distance `r_cm` away from its mounting flange `frame_a`. To model a more physically motivated pendulum rod, we could have used a [`BodyShape`](@ref) component, which has two mounting flanges instead of one. The [`BodyShape`](@ref) component is shown in several of the examples available in the example sections of the documentation.
 
 ## Adding damping
-To add damping to the pendulum such that the pendulum will eventually come to rest, we add a [`Damper`](@ref) to the revolute joint. The damping coefficient is given by `d`, and the damping force is proportional to the angular velocity of the joint. To add the damper to the revolute joint, we must create the joint with the keyword argument `useAxisFlange = true`, this adds two internal flanges to the joint to which you can attach components from the `ModelingToolkitStandardLibrary.Mechanical.Rotational` module (1-dimensional components). We then connect one of the flanges of the damper to the axis flange of the joint, and the other damper flange to the support flange which is rigidly attached to the world.
+To add damping to the pendulum such that the pendulum will eventually come to rest, we add a [`Damper`](@ref) to the revolute joint. The damping coefficient is given by `d`, and the damping force is proportional to the angular velocity of the joint. To add the damper to the revolute joint, we must create the joint with the keyword argument `axisflange = true`, this adds two internal flanges to the joint to which you can attach components from the `ModelingToolkitStandardLibrary.Mechanical.Rotational` module (1-dimensional components). We then connect one of the flanges of the damper to the axis flange of the joint, and the other damper flange to the support flange which is rigidly attached to the world.
 ```@example pendulum
 @named damper = Rotational.Damper(d = 0.1)
-@named joint = Revolute(n = [0, 0, 1], isroot = true, useAxisFlange = true)
+@named joint = Revolute(n = [0, 0, 1], isroot = true, axisflange = true)
 
 connections = [connect(world.frame_b, joint.frame_a)
  connect(damper.flange_b, joint.axis)
@@ -116,7 +116,7 @@ A mass suspended in a spring can be though of as a linear pendulum (often referr
 @named body_0 = Body(; m = 1, isroot = false, r_cm = [0, 0, 0])
 @named damper = Translational.Damper(d=1)
 @named spring = Translational.Spring(c=10)
-@named joint = Prismatic(n = [0, 1, 0], useAxisFlange = true)
+@named joint = Prismatic(n = [0, 1, 0], axisflange = true)
 
 connections = [connect(world.frame_b, joint.frame_a)
  connect(damper.flange_b, spring.flange_b, joint.axis)
@@ -132,7 +132,7 @@ sol = solve(prob, Rodas4())
 Plots.plot(sol, idxs = joint.s, title="Mass-spring-damper system")
 ```
 
-As is hopefully evident from the little code snippet above, this linear pendulum model has a lot in common with the rotary pendulum. In this example, we connected both the spring and a damper to the same axis flange in the joint. This time, the components came from the `Translational` submodule of ModelingToolkitStandardLibrary rather than the `Rotational` submodule. Also here do we pass `useAxisFlange` when we create the joint to make sure that it is equipped with the flanges `support` and `axis` needed to connect the translational components.
+As is hopefully evident from the little code snippet above, this linear pendulum model has a lot in common with the rotary pendulum. In this example, we connected both the spring and a damper to the same axis flange in the joint. This time, the components came from the `Translational` submodule of ModelingToolkitStandardLibrary rather than the `Rotational` submodule. Also here do we pass `axisflange` when we create the joint to make sure that it is equipped with the flanges `support` and `axis` needed to connect the translational components.
 
 ```@example pendulum
 Multibody.render(model, sol; z = -5, filename = "linear_pend.gif", framerate=24)
@@ -197,8 +197,8 @@ W(args...; kwargs...) = Multibody.world
 @mtkmodel FurutaPendulum begin
  @components begin
  world = W()
- shoulder_joint = Revolute(n = [0, 1, 0], isroot = true, useAxisFlange = true)
- elbow_joint = Revolute(n = [0, 0, 1], isroot = true, useAxisFlange = true, phi0=0.1)
+ shoulder_joint = Revolute(n = [0, 1, 0], isroot = true, axisflange = true)
+ elbow_joint = Revolute(n = [0, 0, 1], isroot = true, axisflange = true, phi0=0.1)
  upper_arm = BodyShape(; m = 0.1, isroot = false, r = [0, 0, 0.6], radius=0.05)
  lower_arm = BodyShape(; m = 0.1, isroot = false, r = [0, 0.6, 0], radius=0.05)
  tip = Body(; m = 0.3, isroot = false)

docs/src/examples/sensors.md

@@ -46,7 +46,7 @@ sol = solve(prob, Rodas4())
 plot(sol, idxs = [collect(forcesensor.force.u); collect(joint.frame_a.f)])
 ```
 
-Note how the force sensor measures a force that appears to equal the cut-force in the joint in magnitude, but the orientation appears to differ. Frame cut forces and toques are resolved in the world frame by default, while the force sensor measures the force in the frame of the sensor. We can choose which frame to resolve the measurements in by using hte keyword argument `@named forcesensor = CutForce(; resolveInFrame = :world)`. If we do this, the traces in the plot above will overlap.
+Note how the force sensor measures a force that appears to equal the cut-force in the joint in magnitude, but the orientation appears to differ. Frame cut forces and toques are resolved in the world frame by default, while the force sensor measures the force in the frame of the sensor. We can choose which frame to resolve the measurements in by using hte keyword argument `@named forcesensor = CutForce(; resolve_frame = :world)`. If we do this, the traces in the plot above will overlap.
 
 Since the torque sensor measures a torque in a revolute joint, it should measure zero torque in this case, no torque is transmitted through the revolute joint since the rotational axis is perpendicular to the gravitational force:
 ```@example sensor

docs/src/examples/spherical_pendulum.md

@@ -17,7 +17,7 @@ D = Differential(t)
 world = Multibody.world
 
 systems = @named begin
- joint = Spherical(enforceState=true, isroot=true, phi = 1)
+ joint = Spherical(state=true, isroot=true, phi = 1)
  bar = FixedTranslation(r = [0, -1, 0])
  body = Body(; m = 1, isroot = false)
 end

docs/src/examples/spring_damper_system.md

@@ -26,7 +26,7 @@ world = Multibody.world
  body2 = Body(; m = 1, isroot = false, r_cm = [0.0, -0.2, 0]) # This is not root since there is a joint parallel to the spring leading to this body
  bar1 = FixedTranslation(r = [0.3, 0, 0])
  bar2 = FixedTranslation(r = [0.6, 0, 0])
- p2 = Prismatic(n = [0, -1, 0], s0 = 0.1, useAxisFlange = true, isroot = true)
+ p2 = Prismatic(n = [0, -1, 0], s0 = 0.1, axisflange = true, isroot = true)
  spring2 = Multibody.Spring(c = 30, s_unstretched = 0.1)
  spring1 = Multibody.Spring(c = 30, s_unstretched = 0.1)
  damper1 = Multibody.Damper(d = 2)

docs/src/examples/spring_mass_system.md

@@ -22,14 +22,14 @@ D = Differential(t)
 world = Multibody.world
 
 systems = @named begin
- p1 = Prismatic(n = [0, -1, 0], s0 = 0.1, useAxisFlange = true)
+ p1 = Prismatic(n = [0, -1, 0], s0 = 0.1, axisflange = true)
  spring1 = TranslationalModelica.Spring(c=30, s_rel0 = 0.1)
  spring2 = Multibody.Spring(c = 30, s_unstretched = 0.1)
  body1 = Body(m = 1, r_cm = [0, 0, 0])
  bar1 = FixedTranslation(r = [0.3, 0, 0])
  bar2 = FixedTranslation(r = [0.3, 0, 0])
  body2 = Body(m = 1, r_cm = [0, 0, 0])
- p2 = Prismatic(n = [0, -1, 0], s0 = 0.1, useAxisFlange = true)
+ p2 = Prismatic(n = [0, -1, 0], s0 = 0.1, axisflange = true)
 end
 
 eqs = [

docs/src/examples/three_springs.md

@@ -7,7 +7,7 @@ This example mirrors that of the [modelica three-springs](https://doc.modelica.o
 
 
 
-The example connects three springs together in a single point. The springs are all massless and do normally not have any state variables, but we can insist on one of the springs being stateful, in this case, we must tell the lower spring component to act as root by setting `fixedRotationAtFrame_a = fixedRotationAtFrame_b = true`.
+The example connects three springs together in a single point. The springs are all massless and do normally not have any state variables, but we can insist on one of the springs being stateful, in this case, we must tell the lower spring component to act as root by setting `fixed_rotation_at_frame_a = fixed_rotation_at_frame_b = true`.
 
 ```@example spring_mass_system
 using Multibody
@@ -28,7 +28,7 @@ systems = @named begin
  spring1 = Multibody.Spring(c = 20, m = 0, s_unstretched = 0.1,
  r_rel_0 = [-0.2, -0.2, 0.2])
  spring2 = Multibody.Spring(c = 40, m = 0, s_unstretched = 0.1,
- fixedRotationAtFrame_a = true, fixedRotationAtFrame_b = true)
+ fixed_rotation_at_frame_a = true, fixed_rotation_at_frame_b = true)
  spring3 = Multibody.Spring(c = 20, m = 0, s_unstretched = 0.1)
 end
 eqs = [connect(world.frame_b, bar1.frame_a)
@@ -42,7 +42,7 @@ eqs = [connect(world.frame_b, bar1.frame_a)
 @named model = ODESystem(eqs, t, systems = [world; systems])
 ssys = structural_simplify(IRSystem(model))
 prob = ODEProblem(ssys, [
- D.(spring3.lineForce.r_rel_0) .=> 0;
+ D.(spring3.lineforce.r_rel_0) .=> 0;
 ], (0, 10))
 
 sol = solve(prob, Rodas4(), u0=prob.u0 .+ 1e-1*randn(length(prob.u0)))

docs/src/index.md

@@ -41,7 +41,7 @@ A joint restricts the number of degrees of freedom (DOF) of a body. For example,
 
 A [`Spherical`](@ref) joints restricts all translational degrees of freedom, but allows all rotational degrees of freedom. It thus transmits no torque.
 
-Some joints offer the option to add 1-dimensional components to them by providing the keyword `useAxisFlange = true`. This allows us to add, e.g., springs, dampers, sensors, and actuators to the joint.
+Some joints offer the option to add 1-dimensional components to them by providing the keyword `axisflange = true`. This allows us to add, e.g., springs, dampers, sensors, and actuators to the joint.
 
 ```@autodocs
 Modules = [Multibody]

examples/JuliaSim_logo.jl

@@ -14,9 +14,9 @@ radius_large = length_scale*0.3
 @mtkmodel Logo begin
  @components begin
  world = World()
- revl = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, useAxisFlange=true)
- revl2 = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, useAxisFlange=true)
- revr = Revolute(; radius = radius_small, color=JULIASIM_PURPLE, useAxisFlange=true)
+ revl = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, axisflange=true)
+ revl2 = Revolute(; radius = radius_large, color=JULIASIM_PURPLE, axisflange=true)
+ revr = Revolute(; radius = radius_small, color=JULIASIM_PURPLE, axisflange=true)
  bodyl = Body(m=1, radius = radius_small, color=JULIASIM_PURPLE)
  bodyr = Body(m=1, radius = radius_large, color=JULIASIM_PURPLE)
  bar_top = FixedTranslation(r=length_scale*[1, 0.05, 0], radius=length_scale*0.025, color=JULIASIM_PURPLE)

examples/fourbar.jl

@@ -90,8 +90,8 @@ isinteractive() && plot(sol)
 ## Now close the loop
 # We must also replace one joint with a RevolutePlanarLoopConstraint 
 systems = @named begin
- j1 = Revolute(useAxisFlange=true)
- j2 = Revolute(useAxisFlange=true)
+ j1 = Revolute(axisflange=true)
+ j2 = Revolute(axisflange=true)
  j3 = Revolute()
  # j4 = Revolute()
  # j2 = RevolutePlanarLoopConstraint()

src/Multibody.jl

@@ -144,6 +144,7 @@ include("forces.jl")
 export PartialCutForceBaseSensor, BasicCutForce, BasicCutTorque, CutTorque, CutForce
 include("sensors.jl")
 
+export point_to_point
 include("robot/path_planning.jl")
 include("robot/robot_components.jl")
 include("robot/FullRobot.jl")

src/components.jl

@@ -43,7 +43,7 @@ end
  @parameters g=9.81 [description = "gravitational acceleration of world"]
  O = ori(frame_b)
  eqs = Equation[collect(frame_b.r_0) .~ 0;
- O ~ nullRotation()
+ O ~ nullrotation()
  # vec(D(O).R .~ 0); # QUESTION: not sure if I should have to add this, should only have 12 equations according to modelica paper
  ]
  ODESystem(eqs, t, [], [n; g]; name, systems = [frame_b])
@@ -64,7 +64,7 @@ gravity_acceleration(r) = GlobalScope(world.g) * GlobalScope.(world.n) # NOTE: T
  description = "Position vector from world frame to frame_b, resolved in world frame",
  ] end
  eqs = [collect(frame_b.r_0 .~ r)
- ori(frame_b) ~ nullRotation()]
+ ori(frame_b) ~ nullrotation()]
  compose(ODESystem(eqs, t; name), systems...)
 end
 
@@ -165,13 +165,13 @@ Fixed translation followed by a fixed rotation of `frame_b` with respect to `fra
 
  if isroot
  R_rel = planar_rotation(n, angle, 0)
- eqs = [ori(frame_b) ~ absoluteRotation(frame_a, R_rel);
+ eqs = [ori(frame_b) ~ absolute_rotation(frame_a, R_rel);
  zeros(3) ~ fa + resolve1(R_rel, fb);
  zeros(3) ~ taua + resolve1(R_rel, taub) - cross(r,
  fa)]
  else
  R_rel_inv = planar_rotation(n, -angle, 0)
- eqs = [ori(frame_a) ~ absoluteRotation(frame_b, R_rel_inv);
+ eqs = [ori(frame_a) ~ absolute_rotation(frame_b, R_rel_inv);
  zeros(3) ~ fb + resolve1(R_rel_inv, fa);
  zeros(3) ~ taub + resolve1(R_rel_inv, taua) +
  cross(resolve1(R_rel_inv, r), fb)]
@@ -214,7 +214,7 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.
  radius = 0.005,
  air_resistance = 0.0,
  color = [1,0,0,1],
- useQuaternions=false,)
+ quat=false,)
  @variables r_0(t)[1:3]=r_0 [
  state_priority = 2,
  description = "Position vector from origin of world frame to origin of frame_a",
@@ -262,7 +262,7 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.
  dvs = [r_0;v_0;a_0;g_0;w_a;z_a;]
  eqs = if isroot # isRoot
 
- if useQuaternions
+ if quat
  @named frame_a = Frame(varw = true)
  Ra = ori(frame_a, true)
  # @variables q(t)[1:4] = [0.0,0,0,1.0]
@@ -271,7 +271,7 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.
  # qw = collect(qw)
  # Q = Quaternion(q, qw)
  @named Q = NumQuaternion(varw=true) 
- ar = from_Q(Q, angularVelocity2(Q, D.(Q.Q)))
+ ar = from_Q(Q, angular_velocity2(Q, D.(Q.Q)))
  Equation[
  0 ~ orientation_constraint(Q)
  Ra ~ ar
@@ -285,7 +285,7 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.
  @variables phid(t)[1:3]=phid0 [state_priority = 10]
  @variables phidd(t)[1:3]=zeros(3) [state_priority = 10]
  phi, phid, phidd = collect.((phi, phid, phidd))
- ar = axesRotations([1, 2, 3], phi, phid)
+ ar = axes_rotations([1, 2, 3], phi, phid)
 
  Ra = ori(frame_a, true)
 
@@ -302,9 +302,9 @@ Representing a body with 3 translational and 3 rotational degrees-of-freedom.
  Ra = ori(frame_a)
  # This equation is defined here and not in the Rotation component since the branch above might use another equation
  Equation[
- # collect(w_a .~ DRa.w); # angularVelocity2(R, D.(R)): skew(R.w) = R.T*der(transpose(R.T))
+ # collect(w_a .~ DRa.w); # angular_velocity2(R, D.(R)): skew(R.w) = R.T*der(transpose(R.T))
  # vec(DRa.R .~ 0)
- collect(w_a .~ angularVelocity2(Ra));]
+ collect(w_a .~ angular_velocity2(Ra));]
  end
 
  eqs = [eqs;
@@ -340,7 +340,7 @@ The `BodyShape` component is similar to a [`Body`](@ref), but it has two frames
 """
 @component function BodyShape(; name, m = 1, r = [0, 0, 0], r_cm = 0.5*r, r_0 = 0, radius = 0.08, color=:purple, kwargs...)
  systems = @named begin
- frameTranslation = FixedTranslation(r = r)
+ translation = FixedTranslation(r = r)
  body = Body(; r_cm, r_0, kwargs...)
  frame_a = Frame()
  frame_b = Frame()
@@ -374,8 +374,8 @@ The `BodyShape` component is similar to a [`Body`](@ref), but it has two frames
  eqs = [r_0 .~ collect(frame_a.r_0)
  v_0 .~ D.(r_0)
  a_0 .~ D.(v_0)
- connect(frame_a, frameTranslation.frame_a)
- connect(frame_b, frameTranslation.frame_b)
+ connect(frame_a, translation.frame_a)
+ connect(frame_b, translation.frame_b)
  connect(frame_a, body.frame_a)]
  ODESystem(eqs, t, [r_0; v_0; a_0], pars; name, systems)
 end
@@ -413,7 +413,7 @@ function Rope(; name, l = 1, n = 10, m = 1, c = 0, d=0, air_resistance=0, d_join
  li = l / n # Segment length
  mi = m / n # Segment mass
 
- joints = [Spherical(name=Symbol("joint_$i"), isroot=true, enforceState=true, d = d_joint) for i = 1:n+1]
+ joints = [Spherical(name=Symbol("joint_$i"), isroot=true, state=true, d = d_joint) for i = 1:n+1]
 
  eqs = [
  connect(frame_a, joints[1].frame_a)
@@ -427,7 +427,7 @@ function Rope(; name, l = 1, n = 10, m = 1, c = 0, d=0, air_resistance=0, d_join
  springs = [Translational.Spring(c = ci, s_rel0=li, name=Symbol("link_$i")) for i = 1:n]
  dampers = [Translational.Damper(d = di, name=Symbol("damping_$i")) for i = 1:n]
  masses = [Body(; m = mi, name=Symbol("mass_$i"), isroot=false, r_cm = [0, -li/2, 0], air_resistance) for i = 1:n]
- links = [Prismatic(n = [0, -1, 0], s0 = li, name=Symbol("flexibility_$i"), useAxisFlange=true) for i = 1:n]
+ links = [Prismatic(n = [0, -1, 0], s0 = li, name=Symbol("flexibility_$i"), axisflange=true) for i = 1:n]
  for i = 1:n
  push!(eqs, connect(links[i].support, springs[i].flange_a, dampers[i].flange_a))
  push!(eqs, connect(links[i].axis, springs[i].flange_b, dampers[i].flange_b))