symbrim.brim.hand_grips.HolonomicHandGrips

class symbrim.brim.hand_grips.HolonomicHandGrips(name: str)

Bases: HandGripsBase

Constrain the hands to the steer using holonomic constraints.

Explanation

This connection defines the hands as holonomic constraints on the steer. The closed loop should be time independent in all directions, otherwise one will introduce additional constraints making the resulting system invalid. Some simple checks are done to verify that this is not the case. An example where this may occur is when the arms cannot move sideways with respect to the steer, while the shoulder width and the steer width are different.

Attributes

auxiliary_handler	Auxiliary data handler of the model.
descriptions	Descriptions of the attributes of the object.
front_frame	Front frame of the bicycle.
left_arm	Left arm of the rider.
load_groups	Load groups of the connection.
name	Name of the object.
required_models
right_arm	Right arm of the rider.
submodels	Submodels of the connection.
system	System object used to store the information of the model itself.

Methods

__init__	Create a new instance of the connection.
add_load_groups	Add load groups to the connection.
define_constraints	Define the constraints on the connection.
define_kinematics	Define the kinematics of the connection.
define_loads	Define the loads on the connection.
define_objects	Define the objects in the connection.
get_all_symbols	Get all declared symbols of a model.
get_description	Get description of a given object.
get_param_values	Get a parameters mapping of a model based on a bicycle parameters object.
set_plot_objects	Set the symmeplot plot objects.

__init__(name: str) → None

Create a new instance of the connection.

Parameters:

name (str) – Name of the connection.

__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.

define_constraints() → None

Define the constraints on the connection.

define_kinematics() → None

Define the kinematics of the connection.

define_loads() → None

Define the loads on the connection.

define_objects() → None

Define the objects in the connection.

property descriptions: dict[object, str]

Descriptions of the attributes of the object.

property front_frame: FrontFrameBase

Front frame of the bicycle.

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

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

property left_arm: LeftArmBase

Left arm of the rider.

property load_groups: tuple[LoadGroupBase]

Load groups of the connection.

property name: str

Name of the object.

property right_arm: RightArmBase

Right arm of the rider.

set_plot_objects(plot_object: MplPlotBase) → None

Set the symmeplot plot objects.

property submodels: tuple[ModelBase]

Submodels of the connection.

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.