[WIP] Update of the inertial parameters #100

[ANaaim]

• Linked issue related to your pull request using 'Refactoring Inertial Parameters & Improvements Needed #100'
• Used the tag [WIP] or [RTR] for on-going changes, or for ready to review
• Did you write new tests to cover your changes?
• Did you write a proper documentation (docstrings and ReadMe)
• Please black your code black . -l120

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This change is 

[Ipuch]

Reviewed 1 of 1 files at r1, all commit messages.
Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @ANaaim)

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bionc/model_creation/biomechanical_model_template.py line 129 at r1 (raw file):

                    inertia_matrix=s.inertia_parameters.inertia,
                    transformation_matrix=TransformationMatrixType.Buv,
                )

Okay, does this works for you ? here are my toughts:

The user should only be considered by the choice of Inertia Parameters Antropometric Table Item such as Dumas2007.Thigh for example.
thus, at that stage we need to be able to pass the length computed just before ("v = rp -rd") to compute the inertia parameters from the identified length.

What do you think ?

Also, if we uncomment this feature, we need to test to maintain it 👍

Code quote:

                natural_segment.set_inertial_parameters(
                    mass=s.inertia_parameters.relative_mass,
                    center_of_mass=s.inertia_parameters.center_of_mass,
                    inertia_matrix=s.inertia_parameters.inertia,
                    transformation_matrix=TransformationMatrixType.Buv,
                )

[Ipuch]

Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @ANaaim)

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bionc/model_creation/biomechanical_model_template.py line 129 at r1 (raw file):

Previously, Ipuch (Pierre Puchaud) wrote…

Okay, does this works for you ? here are my toughts:

The user should only be considered by the choice of Inertia Parameters Antropometric Table Item such as Dumas2007.Thigh for example.
thus, at that stage we need to be able to pass the length computed just before ("v = rp -rd") to compute the inertia parameters from the identified length.

What do you think ?

Also, if we uncomment this feature, we need to test to maintain it 👍

model["THIGH"].set_inertia_paramters(
mass=
center_of_mass_inertia=
inertia=
)

def set_inertial_parameters(
self,
mass: float,
center_of_mass: np.ndarray,
inertia_matrix: np.ndarray,
transformation_matrix: TransformationMatrixType,
):
self._natural_inertial_parameters = NaturalInertialParameters.from_cartesian_inertial_parameters(
mass=mass,
center_of_mass=center_of_mass,
inertia_matrix=inertia_matrix,
inertial_transformation_matrix=self.compute_transformation_matrix(transformation_matrix),
)
self._mass = mass
self._natural_center_of_mass = self._natural_inertial_parameters.natural_center_of_mass
self._natural_pseudo_inertia = self.natural_pseudo_inertia
self._mass_matrix = self._natural_inertial_parameters.mass_matrix

[ANaaim]

Do not forget to use
_update_mass_matrix from bionc/biomechanical model after seting inertia

[ANaaim]

Should i still work on this ?

[Ipuch]

I think this PR should be closed as this is not the spirit of the model creation to allow passing numerical values. But mostly to pass the numerical values after the "kinematic model only was updated", like I said in my last comment.

model["THIGH"].set_inertia_paramters(
mass=1,
center_of_mass_inertia=[1,2,3],
inertia=[1,2,3,4,5,6],
)

def set_inertial_parameters(
self,
mass: float,
center_of_mass: np.ndarray,
inertia_matrix: np.ndarray,
transformation_matrix: TransformationMatrixType,
):
self._natural_inertial_parameters = NaturalInertialParameters.from_cartesian_inertial_parameters(
mass=mass,
center_of_mass=center_of_mass,
inertia_matrix=inertia_matrix,
inertial_transformation_matrix=self.compute_transformation_matrix(transformation_matrix),
)
self._mass = mass
self._natural_center_of_mass = self._natural_inertial_parameters.natural_center_of_mass
self._natural_pseudo_inertia = self.natural_pseudo_inertia
self._mass_matrix = self._natural_inertial_parameters.mass_matrix

I don't remember if I implemented it.
If yes, this PR should be closed, if No, you could revert some commit of this PR and start from here or open a new one.