brim.rider.torso.PlanarTorso

class brim.rider.torso.PlanarTorso(name: str)

Bases: TorsoBase

A planar rigid torso.

Explanation

The planar rigid torso models the torso as being rigid. The shoulder joints are located a shoulder width apart at a height of the shoulder height above the center of mass of the torso.

Attributes

auxiliary_handler	Auxiliary data handler of the model.
body	The body representing the model.
connections	Submodels out of which this model exists.
convention
descriptions	Descriptions of the objects.
frame	Reference frame of the model.
left_shoulder_frame	The left shoulder frame.
left_shoulder_point	Location of the left shoulder.
load_groups	Load groups of the connection.
name	Name of the object.
required_connections
required_models
right_shoulder_frame	The right shoulder frame.
right_shoulder_point	Location of the right shoulder.
submodels	Submodels out of which this model exists.
system	System object used to store the information of the model itself.
x	X-axis of model.
y	Y-axis of model.
z	Z-axis of model.

Methods

__init__	Create a new instance of the model.
add_load_groups	Add load groups to the connection.
define_all	Define all aspects of the model.
define_connections	Define the submodels used by connections in the model.
define_constraints	Define the constraints on the model.
define_kinematics	Establish the kinematics of the objects belonging to the model.
define_loads	Define the loads that are acting upon the model.
define_objects	Initialize the objects belonging to the model.
from_convention	Create a model from a convention.
get_all_symbols	Get all declared symbols of a model.
get_description	Get description of a given object.
get_param_values	Get the parameter values of the pelvis.
set_plot_objects	Set the symmeplot plot objects.
to_system	Export the model to a single system instance.

__init__(name: str) → None

Create a new instance of the model.

Parameters:

name (str) – Name of the model.

__repr__() → str

Return repr(self).

__str__() → str

Return str(self).

__weakref__

list of weak references to the object (if defined)

add_load_groups(*load_groups: LoadGroupBase) → None

Add load groups to the connection.

property auxiliary_handler: AuxiliaryDataHandler | None

Auxiliary data handler of the model.

property body: RigidBody

The body representing the model.

property connections: tuple[brim.core.base_classes.ConnectionBase]

Submodels out of which this model exists.

define_all() → None

Define all aspects of the model.

define_connections() → None

Define the submodels used by connections in the model.

define_constraints() → None

Define the constraints on the model.

define_kinematics() → None

Establish the kinematics of the objects belonging to the model.

define_loads() → None

Define the loads that are acting upon the model.

define_objects() → None

Initialize the objects belonging to the model.

property descriptions: dict[Any, str]

Descriptions of the objects.

property frame: ReferenceFrame

Reference frame of the model.

classmethod from_convention(convention: str, name: str, *args, **kwargs) → ModelBase

Create a model from a convention.

get_all_symbols() → set[sympy.core.basic.Basic]

Get all declared symbols of a model.

get_description(obj: Any) → str

Get description of a given object.

get_param_values(bicycle_parameters: Bicycle) → dict[Symbol, float]

Get the parameter values of the pelvis.

property left_shoulder_frame: ReferenceFrame

The left shoulder frame.

property left_shoulder_point: Point

Location of the left shoulder.

Explanation

The left shoulder point is defined as the point where the left shoulder joint is located. This point is used by connections to connect the left arm to the torso.

property load_groups: tuple[brim.core.base_classes.LoadGroupBase]

Load groups of the connection.

property name: str

Name of the object.

property right_shoulder_frame: ReferenceFrame

The right shoulder frame.

property right_shoulder_point: Point

Location of the right shoulder.

Explanation

The right shoulder point is defined as the point where the right shoulder joint is located. This point is used by connections to connect the right arm to the torso.

set_plot_objects(plot_object: PlotModel) → None

Set the symmeplot plot objects.

property submodels: tuple[brim.core.base_classes.ModelBase]

Submodels out of which this model exists.

property system: System | None

System object used to store the information of the model itself.

Notes

This system object is used to store the information of the model itself. It does not by definition contain any information about the submodels or connections. Therefore, one cannot use this system object to form the equations of motion. Instead, one should use the to_system() method to get the system object representing the entire model.

to_system() → System

Export the model to a single system instance.

property x: Vector

X-axis of model.

property y: Vector

Y-axis of model.

property z: Vector

Z-axis of model.