Numerical derivation with class #9
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the planar_pcs_num.py file. Correct a description of function in the planar_pcs.py file.
callable from other files for comparison purposes with the users choice parameters : - option of saving or not the results, figures, videos - option of plotting/printing or not the results, figures - option on the type of derivation to use : symbolic, numeric - option on the type of integration and parameter of integration to use : gauss, trapezoid - option on the type of jacobian to use : explicit or autodifferentiation Added the ability to save simulation results in pickle files (.pkl) for later comparison Set up an explicit Jacobian in SE3 to compute B and G - SE(3) Lie algebra operators - convert SE(2) to SE(3) to use operators for the planar case
Implementation of a Gauss-Kronrad quadrature integration using the quadax library Function documentation
get rid of jnp.array when possible, benchmark and tests on eps.
Autodiff: for loop calculation corrected Explicit: implementation of explicit calculation using Lie algebra Various tests
kinetic energy depends only on B and does not need to calculate other dynamic matrices Correction of documentations
Corrected documentation Removal of unnecessary imports Ready to merge
mstoelzle
requested changes
Jul 30, 2025
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@solangegbv One more note: Please document the order of the strains (i.e., rotational or linear first) in the docstrings of the class/methods and also denote the meaning of the rows of the Jacobian in the docstring of the methods (i.e., linear or rotational velocities first) |
mstoelzle
reviewed
Jul 31, 2025
mstoelzle
requested changes
Jul 31, 2025
mstoelzle
approved these changes
Jul 31, 2025
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