Implement SlidingJoint #21674

sidhu1012 · 2021-06-28T05:49:53Z

References to other Issues or PRs

#21519

Brief description of what is fixed or changed

Added SlidingJoint Class

Other comments

ping @moorepants @Sc0rpi0n101

Release Notes

physics.mechanics
- Implemented a PrismaticJoint class that generate the kinematics of a prismatic joint.

sympy-bot · 2021-06-28T05:49:55Z

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physics.mechanics
- Implemented a PrismaticJoint class that generate the kinematics of a prismatic joint. (#21674 by @sidhu1012)

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#21519

#### Brief description of what is fixed or changed
Added SlidingJoint Class

#### Other comments
ping @moorepants @Sc0rpi0n101 

#### Release Notes

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* physics.mechanics
    * Implemented a PrismaticJoint class that generate the kinematics of a prismatic joint.
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Update

The release notes on the wiki have been updated.

sympy/physics/mechanics/joint.py

sympy/physics/mechanics/tests/test_joint.py

sidhu1012 · 2021-07-01T08:37:50Z

@moorepants SlidingJoint is also ready, it may have some merge conflicts when PinJoint would be merged though

sympy/physics/mechanics/joint.py

sympy/physics/mechanics/tests/test_joint.py

Co-authored-by: Jason K. Moore <moorepants@gmail.com>

sympy/physics/mechanics/tests/test_joint.py

sympy/physics/mechanics/joint.py

…master' of https://github.com/sympy/sympy into slider

sidhu1012 · 2021-07-15T06:15:33Z

@moorepants This one is ready!

moorepants · 2021-07-15T12:04:49Z

@moorepants This one is ready!

What about the figure explaining the last, most general, test?

sidhu1012 · 2021-07-15T12:19:50Z

What about the figure explaining the last, most general, test?

Will try to show it tomorrow.

sidhu1012 · 2021-07-17T08:19:14Z

What about the figure explaining the last, most general, test?

https://github.com/sympy/sympy/pull/21674/files#r671642338

moorepants · 2021-07-20T07:12:16Z

sympy/physics/mechanics/tests/test_joint.py

+    assert C.masscenter.pos_from(P.masscenter).express(N) == \
+        (m + n/3 + x)*N.x + (2*n/3 - x)*N.y + (-2*n/3 + x)*N.z
+    assert C.masscenter.vel(N) == v*N.x - v*N.y + v*N.z
+    assert C.masscenter.vel(N).express(A) == v*A.x + v*A.y - v*A.z


The magnitudes of these two vectors should be v.

moorepants · 2021-07-20T07:16:21Z

sympy/physics/mechanics/tests/test_joint.py

+    PrismaticJoint('S', P, C, parent_joint_pos=m*N.x, child_joint_pos=n*A.x,
+                    child_axis=A.x+A.y-A.z, parent_axis=N.x-N.y+N.z)
+    assert (N.x-N.y+N.z).angle_between(A.x+A.y-A.z) == 0 #Axis are aligned
+    assert (A.x-A.y+A.z).express(N) == - 5/3*N.x - 1/3*N.y + 1/3*N.z


Suggested change

assert (A.x-A.y+A.z).express(N) == - 5/3*N.x - 1/3*N.y + 1/3*N.z

assert (A.x+A.y-A.z).express(N) == - 5/3*N.x - 1/3*N.y + 1/3*N.z

moorepants · 2021-07-20T07:49:31Z

This looks good but we do not have tests for the most general cases for child_axis, parent_axis, etc.

sidhu1012 added 8 commits June 28, 2021 09:39

Setup SlidingJoint

85c14df

Implement SlidingJoint

0421fcf

Implement basic joint tests

722f703

Make generate_body() global

148f8a7

Make SlidingJoint dynamicsymbols, positive by default.

2793242

Add test arbitrary axis () for slidingJoint

ee5cf6b

Add Notes section in SlidingJoint

f3fb6ab

Remove redundant simplification calls

cd0d67a

sidhu1012 requested a review from moorepants as a code owner June 28, 2021 05:49

sidhu1012 added 4 commits June 28, 2021 11:23

Make generate_body private

369617c

Remove whitespace

4714039

Remove whitespace

56a8ee3

Correct assumptions in SlidingJoint

324c063

moorepants reviewed Jun 29, 2021

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Change name of self generated dynamicsymbols

113805f

Abdullahjavednesar added GSoC physics.mechanics labels Jun 29, 2021

sidhu1012 added 2 commits July 1, 2021 13:57

Make slidingjoint similar to pinjoint

4dc7b5c

Correct order in docstring

2324401

moorepants reviewed Jul 5, 2021

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Merge branch 'master' of https://github.com/sympy/sympy into slider

e6c453c

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sidhu1012 and others added 2 commits July 9, 2021 21:49

Update sympy/physics/mechanics/joint.py

c059211

Co-authored-by: Jason K. Moore <moorepants@gmail.com>

Update sympy/physics/mechanics/joint.py

2a523f7

Co-authored-by: Jason K. Moore <moorepants@gmail.com>

moorepants reviewed Jul 9, 2021

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sidhu1012 added 2 commits July 10, 2021 10:44

Fix angle_between case in opposite axes in both joints

0793e81

Correct the example in docstring

c1e1904

sidhu1012 requested a review from moorepants July 10, 2021 06:27

moorepants reviewed Jul 10, 2021

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sidhu1012 mentioned this pull request Jul 10, 2021

Physics.vector not respecting leading - sign #21729

Closed

sidhu1012 added 3 commits July 10, 2021 14:06

Update example

3598a95

Merge branch 'slider' of https://github.com/sidhu1012/sympy; branch '…

7fc011d

…master' of https://github.com/sympy/sympy into slider

Fix doctest chained velocity

3daf851

sidhu1012 requested a review from moorepants July 15, 2021 05:10

Fix docstrings of rotation_vector table

d827bfa

moorepants reviewed Jul 20, 2021

View reviewed changes

Fix sliding joint test case

a2e6444

moorepants enabled auto-merge July 20, 2021 07:48

moorepants merged commit 1eb8d77 into sympy:master Jul 20, 2021

	assert (A.x-A.y+A.z).express(N) == - 5/3N.x - 1/3N.y + 1/3*N.z
	assert (A.x+A.y-A.z).express(N) == - 5/3N.x - 1/3N.y + 1/3*N.z

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Implement SlidingJoint #21674

Implement SlidingJoint #21674

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References to other Issues or PRs

Brief description of what is fixed or changed

Other comments

Release Notes

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sidhu1012 commented Jul 15, 2021

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sidhu1012 commented Jun 28, 2021 •

edited by moorepants

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