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rename import to avoid conflict
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‎test/test_PlanarMechanics.jl‎

Lines changed: 64 additions & 64 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
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# using Plots
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using ModelingToolkit, OrdinaryDiffEq, Test
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using ModelingToolkit: t_nounits as t, D_nounits as D
5-
import Multibody.PlanarMechanics as Planar
5+
import Multibody.PlanarMechanics as Pl
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using JuliaSimCompiler
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tspan = (0.0, 3.0)
@@ -12,7 +12,7 @@ g = -9.807
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# https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/FreeBody.mo
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m = 2
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I = 1
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@named body = Planar.Body(; m, I)
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@named body = Pl.Body(; m, I)
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@named model = ODESystem(Equation[],
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t,
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[],
@@ -34,10 +34,10 @@ end
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@testset "Pendulum" begin
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# https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/Pendulum.mo
37-
@named ceiling = Planar.Fixed()
38-
@named rod = Planar.FixedTranslation(r = [1.0, 0.0])
39-
@named body = Planar.Body(m = 1, I = 0.1)
40-
@named revolute = Planar.Revolute()
37+
@named ceiling = Pl.Fixed()
38+
@named rod = Pl.FixedTranslation(r = [1.0, 0.0])
39+
@named body = Pl.Body(m = 1, I = 0.1)
40+
@named revolute = Pl.Revolute()
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connections = [
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connect(ceiling.frame, revolute.frame_a),
@@ -62,7 +62,7 @@ end
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@testset "Prismatic" begin
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# just testing instantiation
65-
@test_nowarn @named prismatic = Planar.Prismatic(x = 1.0, y = 0.0)
65+
@test_nowarn @named prismatic = Pl.Prismatic(x = 1.0, y = 0.0)
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end
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@testset "AbsoluteAccCentrifugal" begin
@@ -73,19 +73,19 @@ end
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resolve_in_frame = :world
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# components
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@named body = Planar.Body(; m, I, gy = 0.0)
77-
@named fixed_translation = Planar.FixedTranslation(; r = [10, 0])
78-
@named fixed = Planar.Fixed()
79-
@named revolute = Planar.Revolute()#constant_ω = ω)
76+
@named body = Pl.Body(; m, I, gy = 0.0)
77+
@named fixed_translation = Pl.FixedTranslation(; r = [10, 0])
78+
@named fixed = Pl.Fixed()
79+
@named revolute = Pl.Revolute()#constant_ω = ω)
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# sensors
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@named abs_v_sensor = Planar.AbsoluteVelocity(; resolve_in_frame)
82+
@named abs_v_sensor = Pl.AbsoluteVelocity(; resolve_in_frame)
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eqs = [
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connect(fixed.frame, revolute.frame_a),
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connect(revolute.frame_b, fixed_translation.frame_a),
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connect(fixed_translation.frame_b, body.frame),
88-
# Planar.connect_sensor(body.frame, abs_v_sensor.frame_a)... # QUESTION: why?
88+
# Pl.connect_sensor(body.frame, abs_v_sensor.frame_a)... # QUESTION: why?
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connect(body.frame, abs_v_sensor.frame_a)
9090
]
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@@ -127,36 +127,36 @@ end
127127
I = 1
128128
resolve_in_frame = :world
129129

130-
@named body1 = Planar.Body(; m, I)
131-
@named body2 = Planar.Body(; m, I)
132-
@named base = Planar.Fixed()
130+
@named body1 = Pl.Body(; m, I)
131+
@named body2 = Pl.Body(; m, I)
132+
@named base = Pl.Fixed()
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134-
@named abs_pos_sensor = Planar.AbsolutePosition(; resolve_in_frame)
135-
@named abs_v_sensor = Planar.AbsoluteVelocity(; resolve_in_frame)
136-
@named abs_a_sensor = Planar.AbsoluteAcceleration(; resolve_in_frame)
137-
@named rel_pos_sensor1 = Planar.RelativePosition(; resolve_in_frame)
138-
@named rel_pos_sensor2 = Planar.RelativePosition(; resolve_in_frame)
139-
@named rel_v_sensor1 = Planar.RelativeVelocity(; resolve_in_frame)
140-
@named rel_v_sensor2 = Planar.RelativeVelocity(; resolve_in_frame)
141-
@named rel_a_sensor1 = Planar.RelativeAcceleration(; resolve_in_frame)
142-
@named rel_a_sensor2 = Planar.RelativeAcceleration(; resolve_in_frame)
134+
@named abs_pos_sensor = Pl.AbsolutePosition(; resolve_in_frame)
135+
@named abs_v_sensor = Pl.AbsoluteVelocity(; resolve_in_frame)
136+
@named abs_a_sensor = Pl.AbsoluteAcceleration(; resolve_in_frame)
137+
@named rel_pos_sensor1 = Pl.RelativePosition(; resolve_in_frame)
138+
@named rel_pos_sensor2 = Pl.RelativePosition(; resolve_in_frame)
139+
@named rel_v_sensor1 = Pl.RelativeVelocity(; resolve_in_frame)
140+
@named rel_v_sensor2 = Pl.RelativeVelocity(; resolve_in_frame)
141+
@named rel_a_sensor1 = Pl.RelativeAcceleration(; resolve_in_frame)
142+
@named rel_a_sensor2 = Pl.RelativeAcceleration(; resolve_in_frame)
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144144
connections = [
145-
Planar.connect_sensor(body1.frame, abs_pos_sensor.frame_a)...,
146-
Planar.connect_sensor(body1.frame, abs_v_sensor.frame_a)...,
147-
Planar.connect_sensor(body1.frame, abs_a_sensor.frame_a)...,
148-
Planar.connect_sensor(body1.frame, rel_pos_sensor1.frame_a)...,
149-
Planar.connect_sensor(base.frame, rel_pos_sensor1.frame_b)...,
150-
Planar.connect_sensor(body1.frame, rel_pos_sensor2.frame_a)...,
151-
Planar.connect_sensor(body2.frame, rel_pos_sensor2.frame_b)...,
152-
Planar.connect_sensor(base.frame, rel_v_sensor1.frame_a)...,
153-
Planar.connect_sensor(body1.frame, rel_v_sensor1.frame_b)...,
154-
Planar.connect_sensor(body1.frame, rel_v_sensor2.frame_a)...,
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Planar.connect_sensor(body2.frame, rel_v_sensor2.frame_b)...,
156-
Planar.connect_sensor(body1.frame, rel_a_sensor1.frame_a)...,
157-
Planar.connect_sensor(base.frame, rel_a_sensor1.frame_b)...,
158-
Planar.connect_sensor(body1.frame, rel_a_sensor2.frame_a)...,
159-
Planar.connect_sensor(body2.frame, rel_a_sensor2.frame_b)...
145+
Pl.connect_sensor(body1.frame, abs_pos_sensor.frame_a)...,
146+
Pl.connect_sensor(body1.frame, abs_v_sensor.frame_a)...,
147+
Pl.connect_sensor(body1.frame, abs_a_sensor.frame_a)...,
148+
Pl.connect_sensor(body1.frame, rel_pos_sensor1.frame_a)...,
149+
Pl.connect_sensor(base.frame, rel_pos_sensor1.frame_b)...,
150+
Pl.connect_sensor(body1.frame, rel_pos_sensor2.frame_a)...,
151+
Pl.connect_sensor(body2.frame, rel_pos_sensor2.frame_b)...,
152+
Pl.connect_sensor(base.frame, rel_v_sensor1.frame_a)...,
153+
Pl.connect_sensor(body1.frame, rel_v_sensor1.frame_b)...,
154+
Pl.connect_sensor(body1.frame, rel_v_sensor2.frame_a)...,
155+
Pl.connect_sensor(body2.frame, rel_v_sensor2.frame_b)...,
156+
Pl.connect_sensor(body1.frame, rel_a_sensor1.frame_a)...,
157+
Pl.connect_sensor(base.frame, rel_a_sensor1.frame_b)...,
158+
Pl.connect_sensor(body1.frame, rel_a_sensor2.frame_a)...,
159+
Pl.connect_sensor(body2.frame, rel_a_sensor2.frame_b)...
160160
]
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162162
# connections = [
@@ -237,19 +237,19 @@ end
237237

238238
@testset "Measure Demo" begin
239239
# https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/MeasureDemo.mo
240-
@named body = Planar.Body(; m = 1, I = 0.1)
241-
@named fixed_translation = Planar.FixedTranslation(;)
242-
@named fixed = Planar.Fixed()
243-
@named body1 = Planar.Body(; m = 0.4, I = 0.02)
244-
@named fixed_translation1 = Planar.FixedTranslation(; r = [0.4, 0])
245-
@named abs_pos_sensor = Planar.AbsolutePosition(; resolve_in_frame = :world)
246-
@named rel_pos_sensor = Planar.RelativePosition(; resolve_in_frame = :world)
247-
@named revolute1 = Planar.Revolute()
248-
@named abs_v_sensor = Planar.AbsoluteVelocity(; resolve_in_frame = :frame_a)
249-
@named rel_v_sensor = Planar.RelativeVelocity(; resolve_in_frame = :frame_b)
250-
@named abs_a_sensor = Planar.AbsoluteAcceleration(; resolve_in_frame = :world)
251-
@named rel_a_sensor = Planar.RelativeAcceleration(; resolve_in_frame = :frame_b)
252-
@named revolute2 = Planar.Revolute()
240+
@named body = Pl.Body(; m = 1, I = 0.1)
241+
@named fixed_translation = Pl.FixedTranslation(;)
242+
@named fixed = Pl.Fixed()
243+
@named body1 = Pl.Body(; m = 0.4, I = 0.02)
244+
@named fixed_translation1 = Pl.FixedTranslation(; r = [0.4, 0])
245+
@named abs_pos_sensor = Pl.AbsolutePosition(; resolve_in_frame = :world)
246+
@named rel_pos_sensor = Pl.RelativePosition(; resolve_in_frame = :world)
247+
@named revolute1 = Pl.Revolute()
248+
@named abs_v_sensor = Pl.AbsoluteVelocity(; resolve_in_frame = :frame_a)
249+
@named rel_v_sensor = Pl.RelativeVelocity(; resolve_in_frame = :frame_b)
250+
@named abs_a_sensor = Pl.AbsoluteAcceleration(; resolve_in_frame = :world)
251+
@named rel_a_sensor = Pl.RelativeAcceleration(; resolve_in_frame = :frame_b)
252+
@named revolute2 = Pl.Revolute()
253253

254254
connections = [
255255
connect(fixed_translation.frame_b, body.frame),
@@ -259,13 +259,13 @@ end
259259
# connect(abs_a_sensor.frame_resolve, abs_a_sensor.frame_a),
260260
connect(revolute2.frame_b, fixed_translation1.frame_a),
261261
connect(revolute2.frame_a, fixed_translation.frame_b),
262-
# Planar.connect_sensor(fixed_translation.frame_b, rel_a_sensor.frame_a)...,
262+
# Pl.connect_sensor(fixed_translation.frame_b, rel_a_sensor.frame_a)...,
263263
# connect(fixed_translation.frame_b, rel_v_sensor.frame_a),
264264
# connect(fixed_translation.frame_b, rel_v_sensor.frame_a),
265265
# connect(rel_a_sensor.frame_b, body1.frame_a),
266266
# connect(rel_v_sensor.frame_b, body1.frame_a),
267267
# connect(rel_v_sensor.frame_b, body1.frame_a),
268-
Planar.connect_sensor(body1.frame, abs_a_sensor.frame_a)... # Planar.connect_sensor(body1.frame, abs_v_sensor.frame_a)..., # Planar.connect_sensor(body1.frame, abs_pos_sensor.frame_a)...,
268+
Pl.connect_sensor(body1.frame, abs_a_sensor.frame_a)... # Pl.connect_sensor(body1.frame, abs_v_sensor.frame_a)..., # Pl.connect_sensor(body1.frame, abs_pos_sensor.frame_a)...,
269269
]
270270

271271
@named model = ODESystem(connections,
@@ -293,7 +293,7 @@ end
293293

294294
@testset "SpringDamper" begin
295295
# https://github.com/dzimmer/PlanarMechanics/blob/master/PlanarMechanics/Examples/SpringDamperDemo.mo
296-
@named spring_damper = Planar.SpringDamper(;
296+
@named spring_damper = Pl.SpringDamper(;
297297
s_relx0 = 0,
298298
d_y = 1,
299299
s_rely0 = 0,
@@ -302,9 +302,9 @@ end
302302
c_x = 5,
303303
d_x = 1,
304304
c_phi = 0)
305-
@named body = Planar.Body(; I = 0.1, m = 0.5, rx = 1, ry = 1, color=[0,1,0,1])
306-
@named fixed = Planar.Fixed()
307-
@named fixed_translation = Planar.FixedTranslation(; r = [-1, 0])
305+
@named body = Pl.Body(; I = 0.1, m = 0.5, rx = 1, ry = 1, color=[0,1,0,1])
306+
@named fixed = Pl.Fixed()
307+
@named fixed_translation = Pl.FixedTranslation(; r = [-1, 0])
308308

309309
connections = [
310310
connect(fixed.frame, fixed_translation.frame_a),
@@ -330,11 +330,11 @@ end
330330

331331
@testset "Spring and damper demo" begin
332332
# https://github.com/dzimmer/PlanarMechanics/blob/743462f58858a808202be93b708391461cbe2523/PlanarMechanics/Examples/SpringDemo.mo
333-
@named body = Planar.Body(; m = 0.5, I = 0.1)
334-
@named fixed = Planar.Fixed()
335-
@named spring = Planar.Spring(; c_y = 10, s_rely0 = -0.5, c_x = 1, c_phi = 1e5)
336-
@named damper = Planar.Damper(d = 1)
337-
@named prismatic = Planar.Prismatic(; x = 0, y = 1)
333+
@named body = Pl.Body(; m = 0.5, I = 0.1)
334+
@named fixed = Pl.Fixed()
335+
@named spring = Pl.Spring(; c_y = 10, s_rely0 = -0.5, c_x = 1, c_phi = 1e5)
336+
@named damper = Pl.Damper(d = 1)
337+
@named prismatic = Pl.Prismatic(; x = 0, y = 1)
338338

339339
connections = [
340340
connect(fixed.frame, spring.frame_a),

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