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[RTR] Multimodel, I need animation and displaced the file for more convinience #761

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merged 11 commits into from
Sep 21, 2023
Merged

[RTR] Multimodel, I need animation and displaced the file for more convinience #761

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3cc296d
I need animation and displaced the file for more convinience
Ipuch Sep 18, 2023
7365be9
blacked forgot as always
Ipuch Sep 18, 2023
09cc167
There was a return that was missing.
Ipuch Sep 18, 2023
8a7264c
adding more stuff needed
Ipuch Sep 18, 2023
5408267
fixes
Ipuch Sep 18, 2023
7debfc2
blackdat
Ipuch Sep 18, 2023
d3cb129
refactor tests.
Ipuch Sep 19, 2023
797fbf7
blackdat
Ipuch Sep 19, 2023
ccc218e
I needed more stuff to work for my own purpose.
Ipuch Sep 19, 2023
94315cc
jump in one more if
Ipuch Sep 19, 2023
fff2432
clarifiying
Ipuch Sep 19, 2023
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3 changes: 2 additions & 1 deletion bioptim/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,8 @@
from .dynamics.fatigue.effort_perception import EffortPerception, TauEffortPerception
from .dynamics.ode_solver import OdeSolver, OdeSolverBase
from .interfaces.solver_options import Solver
from .interfaces.biorbd_model import BiorbdModel, MultiBiorbdModel
from .interfaces.biorbd_model import BiorbdModel
from .interfaces.multi_biorbd_model import MultiBiorbdModel
from .interfaces.biomodel import BioModel
from .interfaces.holonomic_biomodel import HolonomicBioModel
from .interfaces.variational_biomodel import VariationalBioModel
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8 changes: 4 additions & 4 deletions bioptim/interfaces/biomodel.py
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Expand Up @@ -21,7 +21,7 @@ def serialize(self) -> tuple[Callable, dict]:

@property
def friction_coefficients(self) -> MX:
"""Get the coeffient of friction to apply to specified elements in the dymamics"""
"""Get the coefficient of friction to apply to specified elements in the dynamics"""
return MX()

@property
Expand Down Expand Up @@ -80,7 +80,7 @@ def segments(self) -> tuple:
"""Get all segments"""
return ()

def homogeneous_matrices_in_global(self, q, reference_idx, inverse=False) -> tuple:
def homogeneous_matrices_in_global(self, q, segment_id, inverse=False) -> tuple:
"""
Get the homogeneous matrices of all segments in the world frame,
such as: P_R0 = T_R0_R1 * P_R1
Expand All @@ -89,9 +89,9 @@ def homogeneous_matrices_in_global(self, q, reference_idx, inverse=False) -> tup
P_R1 the position of any point P in the segment R1 frame.
"""

def homogeneous_matrices_in_child(self, *args) -> tuple:
def homogeneous_matrices_in_child(self, segment_id) -> MX:
"""
Get the homogeneous matrices of all segments in their parent frame,
Get the homogeneous matrices of one segment in its parent frame,
such as: P_R1 = T_R1_R2 * P_R2
with P_R1 the position of any point P in the segment R1 frame,
with P_R2 the position of any point P in the segment R2 frame,
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