$\newcommand{\deriv}[2][]{\dfrac{\partial #1}{\partial #2}} \newcommand{\tderiv}[2][]{\tfrac{\partial #1}{\partial #2}} \newcommand{\fderiv}[2][]{\dfrac{d #1}{d #2}} \newcommand{\derivII}[3][]{\dfrac{\partial^2 #1}{\partial #2 \partial #3}} \newcommand{\tderivII}[3][]{\tfrac{\partial^2 #1}{\partial #2 \partial #3}} \newcommand{\derivIII}[4][]{\dfrac{\partial^3 #1}{\partial #2 \partial #3 \partial #4}} \newcommand{\tderivIII}[4][]{\tfrac{\partial^3 #1}{\partial #2 \partial #3 \partial #4}} \newcommand{\derivIV}[5][]{\dfrac{\partial^4 #1}{\partial #2 \partial #3 \partial #4 \partial #5}} \newcommand{\half}{\tfrac{1}{2}} % Macro for 1/2 \newcommand{\ud}{\mathrm{d}} \newcommand{\op}{\circ} \newcommand{\dq}{\dot{q}} \newcommand{\ddq}{\ddot{q}} \newcommand{\dt}{\Delta t}$

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.

Implemented Calculations

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.