Merge pull request #101 from TJStienstra/rename

Rename

src/brim/__init__.py

@@ -15,7 +15,7 @@
 
     "NonHolonomicTyre",
 
-    "SimplePedals",
+    "MasslessCranks",
 
     "Rider",
 
@@ -31,36 +31,36 @@
 
     "SphericalLeftShoulder", "SphericalRightShoulder",
 
-    "FixedPelvisToTorso",
+    "FixedSacrum",
 
     "BicycleRider",
 
     "SideLeanSeat",
 
-    "HolonomicHandGrip",
+    "HolonomicHandGrips",
 
-    "HolonomicPedalsToFeet",
+    "HolonomicPedals",
 ]
 
 from brim.bicycle import (
     FlatGround,
     KnifeEdgeWheel,
+    MasslessCranks,
     NonHolonomicTyre,
     RigidFrontFrame,
     RigidRearFrame,
-    SimplePedals,
     StationaryBicycle,
     ToroidalWheel,
     WhippleBicycle,
 )
 from brim.brim import (
     BicycleRider,
-    HolonomicHandGrip,
-    HolonomicPedalsToFeet,
+    HolonomicHandGrips,
+    HolonomicPedals,
     SideLeanSeat,
 )
 from brim.rider import (
-    FixedPelvisToTorso,
+    FixedSacrum,
     PinElbowStickLeftArm,
     PinElbowStickRightArm,
     PinLeftHip,

src/brim/bicycle/__init__.py

@@ -8,19 +8,19 @@
     "FrontFrameBase", "RigidFrontFrame", "RigidFrontFrameMoore",
     "WheelBase", "KnifeEdgeWheel", "ToroidalWheel",
     "TyreBase", "NonHolonomicTyre",
-    "PedalsBase", "SimplePedals",
+    "CranksBase", "MasslessCranks",
 ]
 
 from brim.bicycle.bicycle_base import BicycleBase
+from brim.bicycle.cranks import CranksBase, MasslessCranks
 from brim.bicycle.front_frames import (
     FrontFrameBase,
     RigidFrontFrame,
     RigidFrontFrameMoore,
 )
 from brim.bicycle.grounds import FlatGround, GroundBase
-from brim.bicycle.pedals import PedalsBase, SimplePedals
 from brim.bicycle.rear_frames import RearFrameBase, RigidRearFrame, RigidRearFrameMoore
 from brim.bicycle.stationary_bicycle import StationaryBicycle
-from brim.bicycle.tyre_models import NonHolonomicTyre, TyreBase
+from brim.bicycle.tyres import NonHolonomicTyre, TyreBase
 from brim.bicycle.wheels import KnifeEdgeWheel, ToroidalWheel, WheelBase
 from brim.bicycle.whipple_bicycle import WhippleBicycle, WhippleBicycleMoore

src/brim/bicycle/bicycle_base.py

@@ -4,8 +4,8 @@
 import contextlib
 from typing import TYPE_CHECKING
 
+from brim.bicycle.cranks import CranksBase
 from brim.bicycle.front_frames import FrontFrameBase
-from brim.bicycle.pedals import PedalsBase
 from brim.bicycle.rear_frames import RearFrameBase
 from brim.bicycle.wheels import WheelBase
 from brim.core import ModelBase, ModelRequirement
@@ -29,13 +29,13 @@ class BicycleBase(ModelBase):
         ModelRequirement("rear_wheel", WheelBase, "Submodel of the rear wheel.", False),
         ModelRequirement("front_wheel", WheelBase, "Submodel of the front wheel.",
                          False),
-        ModelRequirement("pedals", PedalsBase, "Submodel of the pedals.", False),
+        ModelRequirement("cranks", CranksBase, "Submodel of the cranks.", False),
     )
     rear_frame: RearFrameBase
     front_frame: FrontFrameBase
     rear_wheel: WheelBase
     front_wheel: WheelBase
-    pedals: PedalsBase
+    cranks: CranksBase
 
     def get_param_values(self, bicycle_parameters: Bicycle) -> dict[Symbol, float]:
         """Get a parameters mapping of a model based on a bicycle parameters object."""

src/brim/bicycle/pedals.py → src/brim/bicycle/cranks.py

@@ -1,4 +1,4 @@
-"""Module containing models of the pedals."""
+"""Module containing models of the cranks."""
 from __future__ import annotations
 
 import contextlib
@@ -15,11 +15,11 @@
     with contextlib.suppress(ImportError):
         from brim.utilities.plotting import PlotModel
 
-__all__ = ["PedalsBase"]
+__all__ = ["CranksBase"]
 
 
-class PedalsBase(ModelBase):
-    """Base class for the pedals."""
+class CranksBase(ModelBase):
+    """Base class for the cranks."""
 
     def _define_objects(self) -> None:
         """Define the objects."""
@@ -38,12 +38,12 @@ def _define_kinematics(self) -> None:
 
     @property
     def frame(self) -> ReferenceFrame:
-        """Frame of the pedals."""
+        """Frame of the cranks."""
         return self._frame
 
     @property
     def center_point(self) -> Point:
-        """Center point of the pedals."""
+        """Center point of the cranks."""
         return self._center_point
 
     @property
@@ -59,7 +59,7 @@ def right_pedal_point(self) -> Point:
     @property
     @abstractmethod
     def rotation_axis(self) -> Vector:
-        """Rotation axis of the pedals."""
+        """Rotation axis of the cranks."""
 
     def set_plot_objects(self, plot_object: PlotModel) -> None:
         """Set the symmeplot plot objects."""
@@ -80,22 +80,22 @@ def set_plot_objects(self, plot_object: PlotModel) -> None:
         ], self.name)
 
 
-class SimplePedals(PedalsBase):
-    """Simplified pedal model."""
+class MasslessCranks(CranksBase):
+    """Simplified cranks model."""
 
     @property
     def descriptions(self) -> dict[Any, str]:
         """Descriptions of the objects."""
         return {
             **super().descriptions,
-            self.symbols["radius"]: "Pedal radius.",
+            self.symbols["radius"]: "Length of the cranks in the radial direction.",
             self.symbols["offset"]: "Distance of the pedal point from the center point "
-                                    "of the pedals along the rotation axis.",
+                                    "of the cranks along the rotation axis.",
         }
 
     @property
     def rotation_axis(self) -> Vector:
-        """Rotation axis of the pedals."""
+        """Rotation axis of the cranks."""
         return self.frame.y
 
     def _define_objects(self) -> None:

src/brim/bicycle/stationary_bicycle.py

@@ -33,11 +33,11 @@ def descriptions(self) -> dict[Any, str]:
             self.q[1]: f"Steering rotation angle of {self.name}.",
             self.q[2]: f"Front wheel rotation angle of {self.name}.",
             self.symbols["gear_ratio"]: "Ratio between the angle of the rear wheel and"
-                                        " the pedals.",
-            self.symbols["l_px"]: f"Distance between the rear wheel and the pedals "
-                                  f"along {self.rear_frame.x}.",
-            self.symbols["l_pz"]: f"Distance between the rear wheel and the pedals "
-                                  f"along {self.rear_frame.z}.",
+                                        " the cranks.",
+            self.symbols["l_px"]: f"Distance between the rear wheel and the center of "
+                                  f"the cranks along {self.rear_frame.x}.",
+            self.symbols["l_pz"]: f"Distance between the rear wheel and the center of "
+                                  f"the cranks along {self.rear_frame.z}.",
         }
         desc.update({ui: f"Generalized speed of the {desc[qi].lower()}"
                      for qi, ui in zip(self.q, self.u)})
@@ -79,14 +79,14 @@ def _define_kinematics(self) -> None:
                          self.front_frame.wheel_attachment, self.front_wheel.center,
                          self.front_frame.wheel_axis, self.front_wheel.rotation_axis),
             )
-        if self.pedals:
-            self.pedals.center_point.set_pos(self.rear_frame.wheel_attachment,
+        if self.cranks:
+            self.cranks.center_point.set_pos(self.rear_frame.wheel_attachment,
                                              self.symbols["l_px"] * self.rear_frame.x +
                                              self.symbols["l_pz"] * self.rear_frame.z)
-            self.pedals.frame.orient_axis(
+            self.cranks.frame.orient_axis(
                 self.rear_frame.frame, self.rear_frame.wheel_axis,
                 self.q[0] / self.symbols["gear_ratio"])
-            self.pedals.frame.set_ang_vel(
+            self.cranks.frame.set_ang_vel(
                 self.rear_frame.frame,
                 self.u[0] / self.symbols["gear_ratio"] * self.rear_frame.wheel_axis)
             if self.q[0] not in self.system.q:

src/brim/bicycle/whipple_bicycle.py

@@ -12,7 +12,7 @@
 from brim.bicycle.front_frames import FrontFrameBase
 from brim.bicycle.grounds import GroundBase
 from brim.bicycle.rear_frames import RearFrameBase
-from brim.bicycle.tyre_models import TyreBase
+from brim.bicycle.tyres import TyreBase
 from brim.bicycle.wheels import WheelBase
 from brim.core import ConnectionRequirement, ModelRequirement, set_default_convention
 
@@ -74,7 +74,7 @@ def descriptions(self) -> dict[Any, str]:
             self.q[6]: f"Steering rotation angle of {self.name}.",
             self.q[7]: f"Rear wheel rotation angle of {self.name}.",
             self.symbols["gear_ratio"]: "Ratio between the angle of the rear wheel and"
-                                        " the pedals.",
+                                        " the cranks.",
         }
         desc.update({ui: f"Generalized speed of the {desc[qi].lower()}"
                      for qi, ui in zip(self.q, self.u)})
@@ -135,12 +135,12 @@ def _define_kinematics(self) -> None:
         self.system.add_speeds(*self.u[:5])
         self.system.add_kdes(*(
             ui - qi.diff(dynamicsymbols._t) for qi, ui in zip(self.q[:5], self.u[:5])))
-        if self.pedals:
-            self.pedals.center_point.set_pos(self.rear_frame.bottom_bracket, 0)
-            self.pedals.frame.orient_axis(
+        if self.cranks:
+            self.cranks.center_point.set_pos(self.rear_frame.bottom_bracket, 0)
+            self.cranks.frame.orient_axis(
                 self.rear_frame.frame, self.rear_frame.wheel_axis,
                 self.q[7] / self.symbols["gear_ratio"])
-            self.pedals.frame.set_ang_vel(
+            self.cranks.frame.set_ang_vel(
                 self.rear_frame.frame,
                 self.u[7] / self.symbols["gear_ratio"] * self.rear_frame.wheel_axis)
 

src/brim/brim/__init__.py

@@ -1,30 +1,30 @@
 """Module containing the bicycle rider model."""
 
 __all__ = [
-    "PedalsToFeetBase", "SeatBase", "HandGripBase",
+    "PedalsBase", "SeatBase", "HandGripsBase",
 
     "BicycleRider",
 
-    "HolonomicPedalsToFeet", "SpringDamperPedalsToFeet",
+    "HolonomicPedals", "SpringDamperPedals",
 
     "PelvisInterPointMixin",
     "FixedSeat", "SideLeanSeat", "SideLeanSeatTorque", "SideLeanSeatSpringDamper",
 
-    "HolonomicHandGrip", "SpringDamperHandGrip",
+    "HolonomicHandGrips", "SpringDamperHandGrips",
 ]
 
 from brim.brim.base_connections import (
-    HandGripBase,
-    PedalsToFeetBase,
+    HandGripsBase,
+    PedalsBase,
     SeatBase,
 )
 from brim.brim.bicycle_rider import BicycleRider
-from brim.brim.pedal_connections import HolonomicPedalsToFeet, SpringDamperPedalsToFeet
-from brim.brim.seat_connections import (
+from brim.brim.hand_grips import HolonomicHandGrips, SpringDamperHandGrips
+from brim.brim.pedals import HolonomicPedals, SpringDamperPedals
+from brim.brim.seats import (
     FixedSeat,
     PelvisInterPointMixin,
     SideLeanSeat,
     SideLeanSeatSpringDamper,
     SideLeanSeatTorque,
 )
-from brim.brim.steer_connections import HolonomicHandGrip, SpringDamperHandGrip

src/brim/brim/base_connections.py

@@ -1,15 +1,15 @@
 """Module containing the base connection classes between the rider and bicycle."""
 from __future__ import annotations
 
+from brim.bicycle.cranks import CranksBase
 from brim.bicycle.front_frames import FrontFrameBase
-from brim.bicycle.pedals import PedalsBase
 from brim.bicycle.rear_frames import RearFrameBase
 from brim.core import ConnectionBase, ModelRequirement
 from brim.rider.arms import LeftArmBase, RightArmBase
 from brim.rider.legs import LeftLegBase, RightLegBase
 from brim.rider.pelvis import PelvisBase
 
-__all__ = ["HandGripBase", "PedalsToFeetBase", "SeatBase"]
+__all__ = ["HandGripsBase", "PedalsBase", "SeatBase"]
 
 
 class SeatBase(ConnectionBase):
@@ -23,29 +23,29 @@ class SeatBase(ConnectionBase):
     pelvis: PelvisBase
 
 
-class HandGripBase(ConnectionBase):
+class HandGripsBase(ConnectionBase):
     """Base class for the connection between the handlebar and the arms."""
 
     required_models: tuple[ModelRequirement, ...] = (
-        ModelRequirement("steer", FrontFrameBase, "Front frame of the bicycle."),
+        ModelRequirement("front_frame", FrontFrameBase, "Front frame of the bicycle."),
         ModelRequirement("left_arm", LeftArmBase, "Left arm of the rider.", hard=False),
         ModelRequirement("right_arm", RightArmBase, "Right arm of the rider.",
                          hard=False),
     )
-    steer: FrontFrameBase
+    front_frame: FrontFrameBase
     left_arm: LeftArmBase
     right_arm: RightArmBase
 
 
-class PedalsToFeetBase(ConnectionBase):
-    """Base class for the connection between the pedals and the legs."""
+class PedalsBase(ConnectionBase):
+    """Base class for the connection between the cranks and the legs."""
 
     required_models: tuple[ModelRequirement, ...] = (
         ModelRequirement("left_leg", LeftLegBase, "Left leg of the rider.", hard=False),
         ModelRequirement("right_leg", RightLegBase, "Right leg of the rider.",
                          hard=False),
-        ModelRequirement("pedals", PedalsBase, "Pedals of the bicycle."),
+        ModelRequirement("cranks", CranksBase, "Cranks of the bicycle."),
     )
     left_leg: LeftLegBase
     right_leg: RightLegBase
-    pedals: PedalsBase
+    cranks: CranksBase