.. currentmodule:: trep.forces
:class:`ConfigForce` -- Apply forces to a configuration variable.
:class:`ConfigForce` creates an input variable that applies a force directly to a configuration variable:
F_{q_i} = u(t)
where the u(t) is a :class:`Input` variable.
Implemented Calculations| Calculation | Implemented |
|---|---|
| f | Y |
| f_dq | Y |
| f_ddq | Y |
| f_du | Y |
| f_dqdq | Y |
| f_ddqdq | Y |
| f_ddqddq | Y |
| f_dudq | Y |
| f_duddq | Y |
| f_dudu | Y |
Examples
forced-pendulum-inverse-dynamics.py, initial-conditions.py,
pend-on-cart-optimization.py
Create a new input to apply a force on a configuration variable.
config should be an existing configuration variable (a name, index, or object).
finput should be a string to name the new input variable.
.. attribute:: ConfigForce.finput The input variable (:class:`Input`) that controls this force.
.. attribute:: ConfigForce.config The configuration variable (:class:`Config`) that this force is applied to.