symbrim.bicycle.grounds.GroundBase

class symbrim.bicycle.grounds.GroundBase(name: str)

Bases: ModelBase

Base class for the 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__

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_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) 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 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.

abstract 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.

abstract 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.

abstract 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.