ConfigForce
– Apply forces to a configuration variable.¶
ConfigForce
creates an input variable that applies a force
directly to a configuration variable:
\[F_{q_i} = u(t)\]
where the \(u(t)\) is a Input
variable.
Calculation | Implemented |
---|---|
f | Y |
f_dq | Y |
f_ddq | Y |
f_du | Y |
f_dqdq | Y |
f_ddqdq | Y |
f_ddqddq | Y |
f_dudq | Y |
f_duddq | Y |
f_dudu | Y |
Examples
forced-pendulum-inverse-dynamics.py
, initial-conditions.py
,
pend-on-cart-optimization.py
-
class
trep.forces.
ConfigForce
(system, config, finput, name=None)¶ Create a new input to apply a force on a configuration variable.
config should be an existing configuration variable (a name, index, or object).
finput should be a string to name the new input variable.
-
ConfigForce.
finput
¶ The input variable (
Input
) that controls this force.
-
ConfigForce.
config
¶ The configuration variable (
Config
) that this force is applied to.