symbrim.bicycle.grounds.FlatGround

class symbrim.bicycle.grounds.FlatGround(name: str, normal: str = '-z')

Bases: GroundBase

Flat ground.

Attributes

auxiliary_handler	Auxiliary data handler of the model.
body	The body representing the ground.
connections	Submodels out of which this model exists.
convention
descriptions	Descriptions of the attributes of the object.
frame	Frame fixed to the ground.
load_groups	Load groups of the connection.
name	Name of the object.
origin	Origin of the ground.
required_connections
required_models
submodels	Submodels out of which this model exists.
system	System object used to store the information of the model itself.

Methods

__init__	Initialize the flat ground.
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_normal	Get normal vector of the ground.
get_param_values	Get a parameters mapping of a model based on a bicycle parameters object.
get_tangent_vectors	Get tangent vectors of the ground plane.
set_plot_objects	Set the symmeplot plot objects.
set_pos_point	Set the location of a point on the ground.
to_system	Export the model to a single system instance.

__init__(name: str, normal: str = '-z') → None

Initialize the flat ground.

Parameters:

• name (str) – Name of the ground.

• normal (str, optional) – Normal vector of the ground. Options are: - “+x”, “-x”, “+y”, “-y”, “+z”, “-z” The default is “-z”.

__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 ground.

property connections: tuple[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[object, str]

Descriptions of the attributes of the object.

property frame: ReferenceFrame

Frame fixed to the ground.

classmethod from_convention(convention: str, name: str, *args: object, **kwargs: dict[str, object]) → ModelBase

Create a model from a convention.

get_all_symbols() → set[Basic]

Get all declared symbols of a model.

get_description(obj: object) → str | None

Get description of a given object.

get_normal(position: T_position) → Vector

Get normal vector of the ground.

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

Get a parameters mapping of a model based on a bicycle parameters object.

get_tangent_vectors(position: T_position) → tuple[Vector, Vector]

Get tangent vectors of the ground plane.

property load_groups: tuple[LoadGroupBase]

Load groups of the connection.

property name: str

Name of the object.

property origin: Point

Origin of the ground.

set_plot_objects(plot_object: PlotModel) → None

Set the symmeplot plot objects.

set_pos_point(point: Point, position: T_position) → None

Set the location of a point on the ground.

property submodels: tuple[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.