Multibody validity check (#168)

* add multibody check function

* use multibody check function

* better world handling in examples and tests

* remove hacky `W` world constructor

* add support for planar mechanics in `multibody`

* handle components without gui metadata

docs/src/examples/free_motion.md

@@ -22,7 +22,7 @@ eqs = [connect(world.frame_b, freeMotion.frame_a)
  systems = [world;
  freeMotion;
  body])
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 prob = ODEProblem(ssys, [], (0, 10))
 
@@ -69,7 +69,7 @@ eqs = [connect(bar2.frame_a, world.frame_b)
  spring2,
  ])
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 prob = ODEProblem(ssys, [
  collect(body.body.v_0 .=> 0);
  collect(body.body.w_a .=> 0);

docs/src/examples/gearbox.md

@@ -48,7 +48,7 @@ eqs = [connect(world.frame_b, gearConstraint.bearing)
 
 @named model = ODESystem(eqs, t, systems = [world; systems])
 cm = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 prob = ODEProblem(ssys, [
  D(cm.idealGear.phi_b) => 0
  cm.idealGear.phi_b => 0

docs/src/examples/gyroscopic_effects.md

@@ -38,7 +38,7 @@ connections = [
 
 @named model = ODESystem(connections, t, systems = [world; systems])
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 prob = ODEProblem(ssys, [model.world.g => 9.80665, model.revolute.w => 10], (0, 5))
 

docs/src/examples/kinematic_loops.md

@@ -75,7 +75,7 @@ connections = [
 ]
 @named fourbar = ODESystem(connections, t, systems = [world; systems])
 fourbar = complete(fourbar)
-ssys = structural_simplify(IRSystem(fourbar))
+ssys = structural_simplify(multibody(fourbar))
 prob = ODEProblem(ssys, [fourbar.j1.phi => 0.1], (0.0, 10.0))
 sol = solve(prob, FBDF(autodiff=true))
 
@@ -146,7 +146,7 @@ connections = [connect(j2.frame_b, b2.frame_a)
  ]
 @named fourbar2 = ODESystem(connections, t, systems = [world; systems])
 fourbar2 = complete(fourbar2)
-ssys = structural_simplify(IRSystem(fourbar2))
+ssys = structural_simplify(multibody(fourbar2))
 
 prob = ODEProblem(ssys, [], (0.0, 1.4399)) # The end time is chosen to make the animation below appear to loop forever
 
@@ -187,7 +187,7 @@ connections = [connect(j2.frame_b, b2.frame_a)
 
 @named fourbar_analytic = ODESystem(connections, t, systems = [world; systems])
 fourbar_analytic = complete(fourbar_analytic)
-ssys_analytic = structural_simplify(IRSystem(fourbar_analytic))
+ssys_analytic = structural_simplify(multibody(fourbar_analytic))
 prob = ODEProblem(ssys_analytic, [], (0.0, 1.4399)) 
 sol2 = solve(prob, FBDF(autodiff=true)) # about 4x faster than the simulation above
 plot!(sol2, idxs=[j2.s]) # Plot the same coordinate as above

docs/src/examples/pendulum.md

@@ -1,5 +1,5 @@
 # Pendulum--The "Hello World of multi-body dynamics"
-This beginners tutorial will start by modeling a pendulum pivoted around the origin in the world frame. The world frame is a constant that lives inside the Multibody module, all multibody models are "grounded" in the same world, i.e., the `world` component must be included in all models.
+This beginners tutorial will start by modeling a pendulum pivoted around the origin in the world frame. The world frame is a constant that lives inside the Multibody module, all multibody models are "grounded" in the same world, i.e., the `world` component must be included exactly once in all models, at the top level.
 
 To start, we load the required packages
 ```@example pendulum
@@ -47,12 +47,16 @@ nothing # hide
 ```
 The `ODESystem` is the fundamental model type in ModelingToolkit used for multibody-type models.
 
-Before we can simulate the system, we must perform model compilation using [`structural_simplify`](@ref)
+Before we can simulate the system, we must perform model check using the function [`multibody`](@ref) and compilation using [`structural_simplify`](@ref)
 ```@example pendulum
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 ```
 This results in a simplified model with the minimum required variables and equations to be able to simulate the system efficiently. This step rewrites all `connect` statements into the appropriate equations, and removes any redundant variables and equations. To simulate the pendulum, we require two state variables, one for angle and one for angular velocity, we can see above that these state variables have indeed been chosen.
 
+```@docs
+multibody
+```
+
 We are now ready to create an `ODEProblem` and simulate it. We use the `Rodas4` solver from OrdinaryDiffEq.jl, and pass a dictionary for the initial conditions. We specify only initial condition for some variables, for those variables where no initial condition is specified, the default initial condition defined the model will be used.
 ```@example pendulum
 D = Differential(t)
@@ -90,7 +94,7 @@ connections = [connect(world.frame_b, joint.frame_a)
 
 @named model = ODESystem(connections, t, systems = [world, joint, body, damper])
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 prob = ODEProblem(ssys, [damper.phi_rel => 1], (0, 10))
 
@@ -123,7 +127,7 @@ connections = [connect(world.frame_b, joint.frame_a)
 
 @named model = ODESystem(connections, t, systems = [world, joint, body_0, damper, spring])
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 prob = ODEProblem(ssys, [], (0, 10))
 
@@ -150,7 +154,7 @@ connections = [connect(world.frame_b, multibody_spring.frame_a)
 
 @named model = ODESystem(connections, t, systems = [world, multibody_spring, root_body])
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 defs = Dict(collect(root_body.r_0) .=> [0, 1e-3, 0]) # The spring has a singularity at zero length, so we start some distance away
 
@@ -168,7 +172,7 @@ push!(connections, connect(multibody_spring.spring2d.flange_b, damper.flange_b))
 
 @named model = ODESystem(connections, t, systems = [world, multibody_spring, root_body, damper])
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 prob = ODEProblem(ssys, defs, (0, 10))
 
 sol = solve(prob, Rodas4(), u0 = prob.u0 .+ 1e-5 .* randn.())
@@ -186,11 +190,10 @@ This pendulum, sometimes referred to as a _rotary pendulum_, has two joints, one
 using ModelingToolkit, Multibody, JuliaSimCompiler, OrdinaryDiffEq, Plots
 import ModelingToolkitStandardLibrary.Mechanical.Rotational.Damper as RDamper
 import Multibody.Rotations
-W(args...; kwargs...) = Multibody.world
 
 @mtkmodel FurutaPendulum begin
  @components begin
- world = W()
+ world = World()
  shoulder_joint = Revolute(n = [0, 1, 0], axisflange = true)
  elbow_joint = Revolute(n = [0, 0, 1], axisflange = true, phi0=0.1)
  upper_arm = BodyShape(; m = 0.1, r = [0, 0, 0.6], radius=0.04)
@@ -218,7 +221,7 @@ end
 
 @named model = FurutaPendulum()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 prob = ODEProblem(ssys, [model.shoulder_joint.phi => 0.0, model.elbow_joint.phi => 0.1], (0, 10))
 sol = solve(prob, Rodas4())
@@ -380,7 +383,7 @@ end
 end
 @named model = CartWithInput()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 prob = ODEProblem(ssys, [model.cartpole.prismatic.s => 0.0, model.cartpole.revolute.phi => 0.1], (0, 10))
 sol = solve(prob, Tsit5())
 plot(sol, layout=4)
@@ -411,13 +414,13 @@ op = Dict([ # Operating point to linearize in
  cp.revolute.phi => 0 # Pendulum pointing upwards
 ]
 )
-matrices, simplified_sys = linearize(IRSystem(cp), inputs, outputs; op)
+matrices, simplified_sys = linearize(multibody(cp), inputs, outputs; op)
 matrices
 ```
 This gives us the matrices $A,B,C,D$ in a linearized statespace representation of the system. To make these easier to work with, we load the control packages and call `named_ss` instead of `linearize` to get a named statespace object instead:
 ```@example pendulum
 using ControlSystemsMTK
-lsys = named_ss(IRSystem(cp), inputs, outputs; op) # identical to linearize, but packages the resulting matrices in a named statespace object for convenience
+lsys = named_ss(multibody(cp), inputs, outputs; op) # identical to linearize, but packages the resulting matrices in a named statespace object for convenience
 ```
 
 ### LQR Control design
@@ -466,7 +469,7 @@ LQGSystem(args...; kwargs...) = ODESystem(observer_controller(lqg); kwargs...)
 end
 @named model = CartWithFeedback()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 prob = ODEProblem(ssys, [model.cartpole.prismatic.s => 0.1, model.cartpole.revolute.phi => 0.35], (0, 10))
 sol = solve(prob, Tsit5())
 cp = model.cartpole
@@ -533,7 +536,7 @@ normalize_angle(x::Number) = mod(x+3.1415, 2pi)-3.1415
 end
 @named model = CartWithSwingup()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 cp = model.cartpole
 prob = ODEProblem(ssys, [cp.prismatic.s => 0.0, cp.revolute.phi => 0.99pi], (0, 5))
 sol = solve(prob, Tsit5(), dt = 1e-2, adaptive=false)

docs/src/examples/prescribed_pose.md

@@ -30,7 +30,7 @@ using Test
 
 t = Multibody.t
 D = Differential(t)
-W(args...; kwargs...) = Multibody.world
+
 
 n = [1, 0, 0]
 AB = 146.5 / 1000
@@ -131,7 +131,7 @@ end
  rod_radius = 0.02
  end
  @components begin
- world = W()
+ world = World()
  mass = Body(m=ms, r_cm = 0.5DA*normalize([0, 0.2, 0.2*sin(t5)]))
  excited_suspension = ExcitedWheelAssembly(; rod_radius)
  prescribed_motion = Pose(; r = [0, 0.1 + 0.1sin(t), 0], R = RotXYZ(0, 0.5sin(t), 0))
@@ -144,7 +144,7 @@ end
 
 @named model = SuspensionWithExcitationAndMass()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 display([unknowns(ssys) diag(ssys.mass_matrix)])
 
 defs = [

docs/src/examples/quad.md

@@ -191,7 +191,7 @@ function RotorCraft(; closed_loop = true, addload=true, L=nothing, outputs = not
 end
 model = RotorCraft(closed_loop=true, addload=true, pid=true)
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 # display(unknowns(ssys))
 op = [
  model.body.v_0[1] => 0;
@@ -234,7 +234,7 @@ op = [
  inputs .=> 1;
 ] |> Dict
 
-@time lsys = named_ss(IRSystem(quad), inputs, outputs; op)
+@time lsys = named_ss(multibody(quad), inputs, outputs; op)
 rsys = minreal(sminreal(lsys))
 C = rsys.C
 rank(C) >= rsys.nx || @warn "The output matrix C is not full rank"
@@ -265,7 +265,7 @@ L
 ModelingToolkit.get_iv(i::IRSystem) = i.t
 model = RotorCraft(; closed_loop=true, addload=true, L=-L, outputs) # Negate L for negative feedback
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 op = [
  model.body.r_0[2] => 1e-3

docs/src/examples/robot.md

@@ -21,7 +21,7 @@ The robot is a medium sized system with some 2000 equations before simplificatio
 
 After simplification, the following states are chosen:
 ```@example robot
-ssys = structural_simplify(IRSystem(robot))
+ssys = structural_simplify(multibody(robot))
 unknowns(ssys)
 ```
 

docs/src/examples/ropes_and_cables.md

@@ -31,7 +31,7 @@ connections = [connect(world.frame_b, rope.frame_a)
 @named stiff_rope = ODESystem(connections, t, systems = [world, body, rope])
 
 stiff_rope = complete(stiff_rope)
-ssys = structural_simplify(IRSystem(stiff_rope))
+ssys = structural_simplify(multibody(stiff_rope))
 prob = ODEProblem(ssys, [], (0, 5))
 sol = solve(prob, Rodas4(autodiff=false))
 @test SciMLBase.successful_retcode(sol)
@@ -55,7 +55,7 @@ connections = [connect(world.frame_b, rope.frame_a)
 @named flexible_rope = ODESystem(connections, t, systems = [world, body, rope])
 
 flexible_rope = complete(flexible_rope)
-ssys = structural_simplify(IRSystem(flexible_rope))
+ssys = structural_simplify(multibody(flexible_rope))
 prob = ODEProblem(ssys, [], (0, 8))
 sol = solve(prob, Rodas4(autodiff=false));
 @test SciMLBase.successful_retcode(sol)
@@ -88,7 +88,7 @@ connections = [connect(world.frame_b, fixed.frame_a, chain.frame_a)
 
 @named mounted_chain = ODESystem(connections, t, systems = [systems; world])
 mounted_chain = complete(mounted_chain)
-ssys = structural_simplify(IRSystem(mounted_chain))
+ssys = structural_simplify(multibody(mounted_chain))
 prob = ODEProblem(ssys, [
  collect(chain.link_8.body.w_a) .=> [0,0,0]; 
  collect(chain.link_8.frame_b.r_0) .=> [x_dist,0,0]; 

docs/src/examples/sensors.md

@@ -31,7 +31,7 @@ connections = [connect(world.frame_b, joint.frame_a)
 
 @named model = ODESystem(connections, t,
  systems = [world, joint, body, torquesensor, forcesensor])
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 
 D = Differential(t)

docs/src/examples/space.md

@@ -23,11 +23,10 @@ using OrdinaryDiffEq
 
 t = Multibody.t
 D = Differential(t)
-W(;kwargs...) = Multibody.world
 
 @mtkmodel PointGrav begin
  @components begin
- world = W()
+ world = World()
  body1 = Body(
  m=1,
  I_11=0.1,
@@ -50,7 +49,7 @@ W(;kwargs...) = Multibody.world
 end
 @named model = PointGrav()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 defs = [
  model.world.mu => 1
  model.world.point_gravity => true # The gravity model is selected here

docs/src/examples/spherical_pendulum.md

@@ -28,7 +28,7 @@ connections = [connect(world.frame_b, joint.frame_a)
 
 @named model = ODESystem(connections, t, systems = [world; systems])
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 prob = ODEProblem(ssys, [], (0, 5))
 

docs/src/examples/spring_damper_system.md

@@ -53,7 +53,7 @@ eqs = [connect(world.frame_b, bar1.frame_a)
  damper1,
  ])
 
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 prob = ODEProblem(ssys, [
  damper1.d => 2;

docs/src/examples/spring_mass_system.md

@@ -45,7 +45,7 @@ eqs = [
 ]
 
 @named model = ODESystem(eqs, t, systems = [world; systems])
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 prob = ODEProblem(ssys,[], (0, 5))
 
 sol = solve(prob, Rodas4())

docs/src/examples/suspension.md

@@ -18,7 +18,6 @@ using Test
 
 t = Multibody.t
 D = Differential(t)
-W(args...; kwargs...) = Multibody.world
 
 n = [1, 0, 0]
 AB = 146.5 / 1000
@@ -137,7 +136,7 @@ end
  dir = mirror ? -1 : 1
  end
  @components begin
- world = W()
+ world = World()
  mass = Body(m=ms, r_cm = 0.5DA*normalize([0, 0.2, 0.2*sin(t5)*dir]))
  excited_suspension = SuspensionWithExcitation(; suspension.spring=true, mirror, rod_radius)
  body_upright = Prismatic(n = [0, 1, 0], render = false, state_priority=1000)
@@ -151,7 +150,7 @@ end
 
 @named model = SuspensionWithExcitationAndMass()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 defs = [
  model.body_upright.s => 0.17
@@ -230,7 +229,7 @@ end
 
 @named model = DoubleSuspensionWithExcitationAndMass()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 defs = [
  model.excited_suspension_r.amplitude => 0.05
@@ -343,7 +342,7 @@ end
 
 @named model = SuspensionWithExcitationAndMass()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 display([unknowns(ssys) diag(ssys.mass_matrix)])
 
 defs = [
@@ -398,7 +397,7 @@ end
 
 @named model = HalfCar()
 model = complete(model)
-ssys = structural_simplify(IRSystem(model))
+ssys = structural_simplify(multibody(model))
 
 defs = [
  model.excited_suspension_r.amplitude => 0.015
@@ -477,7 +476,7 @@ end
 
 @named model = FullCar()
 model = complete(model)
-@time "simplification" ssys = structural_simplify(IRSystem(model))
+@time "simplification" ssys = structural_simplify(multibody(model))
 
 defs = [
  model.excited_suspension_br.wheel.wheeljoint.v_small => 1e-3