Added support for a bodies attribute to LagrangesMethod #11263
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LagrangesMethod now has a self.bodies attribute just like KanesMethod. Tests have also been added.
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+1 to merge |
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LagrangesMethod now has a self.bodies attribute just like KanesMethod. Tests have also been added.
In a conversation with @moorepants I brought up that
LagrangesMethoddoes not have information on the bodies of the system for which it finds the equations of motion. It was determined that the body information must therefore lie in theLagrangian. Upon further research I determined this was only part true. TheLagrangiandoes use the bodies information of the system but it turns out it is only a function not a class and only returns a sympy expression of the Lagrangian. This means that there is not attribute to access the bodies information inside ofLagrangesMethod. I decided a minimally invasive solution to add bodies to the system was to make it an optional keyword argument upon initialization of theLagrangesMethodinstance. The attribute access was made to be identical to theKanesMethodAPI.