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lineardamper.rst

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:class:`LinearDamper` -- Linear damper between two points

.. currentmodule:: trep.forces

:class:`LinearDamper` creates a damping force between the origins of two coordinate frames in 3D space:

We can derive a mapping from the damper force to a force in the generalized coordinates by looking at the work done by the damper. The virtual work done by a damper is simply the damper force multiplied by the change in the damper's length (distance):

x = ||p_1 - p_2||

f = -c \dot x

F_{q_i} = f \deriv[x]{q_i}

where p_1 and p_2 are the origins of two coordinate frames and c is the damper coefficient.

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

dual_pendulums.py

Create a new damper between frame1 and frame2. The frames must already exist in the system.

.. attribute:: LinearDamper.frame1

   The coordinate frame at one end of the damper.

   *(read only)*


.. attribute:: LinearDamper.frame1

   The coordinate frame at the other end of the damper.

   *(read only)*



.. attribute:: LinearDamper.c

   The damping coefficient of the damper.