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introduce some intermediate level parameters #151

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merged 3 commits into from
Oct 7, 2024
Merged

introduce some intermediate level parameters #151

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766504e
introduce some intermediate level parameters
baggepinnen Sep 25, 2024
fd57830
updates tests
baggepinnen Sep 30, 2024
b31d7aa
rm duplicate world
baggepinnen Oct 7, 2024
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1 change: 1 addition & 0 deletions src/components.jl
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Expand Up @@ -540,6 +540,7 @@ See also [`BodyCylinder`](@ref) and [`BodyBox`](@ref) for body components with p
frame_cm = Frame()
end

# NOTE: these parameters should be defined before the `systems` block above, but due to bugs in MTK/JSC with higher-order array parameters we cannot do that. We still define the parameters so that they are available to make animations
@variables r_0(t)[1:3]=r_0 [
state_priority = 2,
description = "Position vector from origin of world frame to origin of frame_a",
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7 changes: 3 additions & 4 deletions test/runtests.jl
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Expand Up @@ -4,8 +4,8 @@ using Test
using JuliaSimCompiler
using OrdinaryDiffEq
using LinearAlgebra
t = Multibody.t
D = Differential(t)
isdefined(Main, :t) || (t = Multibody.t)
isdefined(Main, :D) || (D = Differential(t))
doplot() = false
world = Multibody.world

Expand Down Expand Up @@ -1124,6 +1124,7 @@ using LinearAlgebra

prob = ODEProblem(ssys, [model.joint.phi => 0], (0, 1))
sol = solve(prob, Rodas5P(), abstol=1e-8, reltol=1e-8)
@test SciMLBase.successful_retcode(sol)
# first(render(model, sol, 0, x=2.5, y=1.5, z=2.5, show_axis=true))
# @test sol(10, idxs=model.body.body.m) ≈ 226.27 rtol=1e-3 # Values from open modelica
# @test sol(10, idxs=model.body.body.I_11) ≈ 245.28 rtol=1e-3
Expand All @@ -1148,8 +1149,6 @@ end

using LinearAlgebra, ModelingToolkit, Multibody, JuliaSimCompiler, OrdinaryDiffEq
using Multibody.Rotations: RotXYZ
t = Multibody.t
D = Multibody.D
world = Multibody.world

@named joint = Multibody.Spherical(isroot=false, state=false, quat=false)
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3 changes: 1 addition & 2 deletions test/test_quaternions.jl
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Expand Up @@ -198,7 +198,6 @@ end

# @testset "Spherical joint with quaternion state" begin
using LinearAlgebra, ModelingToolkit, Multibody, JuliaSimCompiler
t = Multibody.t
world = Multibody.world


Expand All @@ -220,7 +219,7 @@ end
ssys = structural_simplify(irsys)


D = Differential(t)
isdefined(Main, :D) || (D = Differential(t))
# q0 = randn(4); q0 ./= norm(q0)
# q0 = [1,0,0,0]
prob = ODEProblem(ssys, [
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