Carvallo whipple doc example #442
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I found one major error in the definition of the rear wheel center velocity. I was using the same definition from my dissertation which assumed that no is the origin and dn is moving wrt to no through q1 and q2. But I think, not quite sure, that when you set the rear wheel contact point as the origin you have to account for the velocity components due to rear wheel rate and pitch rate. Making that change, which matches Gilbert's version, gets the ode eval very close to Basu-Mandal numbers. I just have a small error at this point. I'm also still getting a singular matrix on the ode function generator (this may be a larger problem or misunderstanding as I see it too often in other problems).
Conflicts: examples/bicycle/whipple.py
…the final equations of motion.
…results as KanesMethod.
…effs is equivalent.
… and calling numpy 's solver.
This is based off the whipple.py. The simulation works and is stable. I get divide by zeros and nan's if the initial conditions are zero. The small epsilon I added in place of the zero initial conditions worked for 1e-12 but not 1e-10 and 1e-14. Not sure why either of these issues occur. But at least this is a basic working example and a starting point for investigating more.
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This PR is the same as #122 but extracts the new documentation example from the old style example. I wanted to maintain the commits and separate from the other example that needs more work for its purpose. Both PRs will eventually be merged.
Example
notebooks, the version information
extension is helpful
for this.)
run.pyfile that executes the example is included.