symbrim.rider.torso.PlanarTorso

class symbrim.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[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 objects.

property frame: ReferenceFrame

Reference frame of the model.

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_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[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[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.