trep.potentials
Unlike the LinearSpring
which creates a spring force between two points in 3D space, a ConfigSpring
implements a spring force directly on a generalized coordinate:
Fq = − k(q − q0)
where k is the spring stiffness and q0 is the neutral "length" of the spring.
Implemented Calculations
Calculation Implemented V Y
V_dq Y
V_dqdq Y
V_dqdqdq Y
We can create a simple 1D harmonic oscillator using ConfigSpring
on a translational configuration variable. The same oscillator could be created using a LinearSpring
as well.
code_snippets/configspring-ex1.py
A ConfigSpring
can be used to create a torsional spring on a rotational configuration variable. Here we create a pendulum with a length of 2 and mass of 1. Instead of gravity, the pendulum is moved by a single torsional spring.
code_snippets/configspring-ex2.py
Create a new spring acting on the specified configuration variable. The configuration variable must already exist in the system.
ConfigSpring.config
The configuration variable that spring depends and acts on.
(read only)
ConfigSpring.q0
The "neutral length" of the spring. When self.config.q == q0
, the force is zero.
ConfigSpring.k
The spring constant of the spring.