{"action":"created","comment":{"url":"https://api.github.com/repos/sympy/sympy/pulls/comments/37394644","id":37394644,"diff_hunk":"@@ -0,0 +1,301 @@\n+from sympy import Symbol\n+from sympy.physics.vector import Vector, cross\n+from sympy.physics.mechanics import (dynamicsymbols, Body, Joint, PinJoint,\n+                                     SlidingJoint, CylindricalJoint, PlanarJoint,\n+                                     SphericalJoint)\n+from sympy.utilities.pytest import raises\n+\n+\n+def test_joint_abstract_class():\n+    parent = Body('parent')\n+    child = Body('child')\n+    raises(NotImplementedError, lambda: Joint('joint', parent, child))\n+\n+\n+def test_pin_joint():\n+    parent = Body('parent')\n+    child = Body('child')\n+    l = Symbol('l')\n+    pin_joint = PinJoint('pin_joint', parent, child, child_point_pos=(0, l, 0))\n+\n+    assert pin_joint.name == 'pin_joint'\n+    assert pin_joint.parent == parent\n+    assert pin_joint.child == child\n+    assert pin_joint._parent_joint_location == Vector(0)\n+    assert pin_joint._child_joint_location == l * child.frame.y\n+    assert pin_joint.parent_axis == parent.frame.x\n+    assert pin_joint.child_axis == child.frame.x\n+\n+    theta = dynamicsymbols('pin_joint_theta')\n+    thetad = dynamicsymbols('pin_joint_theta', 1)\n+    omega = dynamicsymbols('pin_joint_omega')\n+    assert pin_joint.coordinates == [theta]\n+    assert pin_joint.speeds == [omega]\n+    assert pin_joint.kds == [thetad - omega]\n+\n+    child_joint_point = pin_joint.child_joint_point\n+    parent_joint_point = pin_joint.parent_joint_point\n+    assert parent_joint_point.name == 'pin_joint_parent_joint'\n+    assert child_joint_point.name == 'pin_joint_child_joint'\n+    assert child_joint_point.pos_from(parent_joint_point) == Vector(0)\n+    assert child_joint_point.pos_from(child.masscenter) == l * child.frame.y\n+    assert parent_joint_point.pos_from(parent.masscenter) == Vector(0)\n+    assert child.masscenter.pos_from(parent.masscenter) == - l * child.frame.y\n+    assert child.frame.ang_vel_in(parent.frame) == omega * parent.frame.x\n+\n+\n+def test_pin_joint_arguments():\n+    parent = Body('parent')\n+    child = Body('child')\n+    l1 = Symbol('l1')\n+    l2 = Symbol('l2')\n+    pin_joint = PinJoint('pin_joint', parent, child,\n+                         parent_point_pos=(0, l1, 0),\n+                         child_point_pos=(0, l2, 0),\n+                         parent_axis=parent.frame.y,\n+                         child_axis=child.frame.y)\n+    assert pin_joint.name == 'pin_joint'\n+    assert pin_joint.parent == parent\n+    assert pin_joint.child == child\n+    assert pin_joint.parent_axis == parent.frame.y\n+    assert pin_joint.child_axis == child.frame.y\n+    assert pin_joint._parent_joint_location == l1 * parent.frame.y\n+    assert pin_joint._child_joint_location == l2 * child.frame.y\n+\n+\n+def test_sliding_joint():\n+    parent = Body('parent')\n+    child = Body('child')\n+    l = Symbol('l')\n+    sliding_joint = SlidingJoint('sliding_joint', parent, child,\n+                                 child_point_pos=(l, 0, 0))\n+\n+    assert sliding_joint.name == 'sliding_joint'\n+    assert sliding_joint.parent == parent\n+    assert sliding_joint.child == child\n+    assert sliding_joint._parent_joint_location == Vector(0)\n+    assert sliding_joint._child_joint_location == l * child.frame.x\n+    assert sliding_joint.parent_axis == parent.frame.x\n+    assert sliding_joint.child_axis == child.frame.x\n+\n+    dis = dynamicsymbols('sliding_joint_dis')\n+    disd = dynamicsymbols('sliding_joint_dis', 1)\n+    vel = dynamicsymbols('sliding_joint_vel')\n+    assert sliding_joint.coordinates == [dis]\n+    assert sliding_joint.speeds == [vel]\n+    assert sliding_joint.kds == [disd - vel]\n+\n+    child_joint_point = sliding_joint.child_joint_point\n+    parent_joint_point = sliding_joint.parent_joint_point\n+    assert parent_joint_point.name == 'sliding_joint_parent_joint'\n+    assert child_joint_point.name == 'sliding_joint_child_joint'\n+    assert child_joint_point.pos_from(parent_joint_point) == dis * parent.frame.x\n+    assert child_joint_point.pos_from(child.masscenter) == l * child.frame.x\n+    assert parent_joint_point.pos_from(parent.masscenter) == Vector(0)\n+    assert child.masscenter.pos_from(parent.masscenter) == (-l * child.frame.x +\n+                                                            dis * parent.frame.x)\n+\n+    assert parent_joint_point.vel(parent.frame) == Vector(0)\n+    assert child_joint_point.vel(child.frame) == Vector(0)\n+    assert child_joint_point.vel(parent.frame) == vel * parent.frame.x\n+    assert child.masscenter.vel(parent.frame) == vel * parent.frame.x\n+\n+\n+def test_sliding_joint_arguments():\n+    parent = Body('parent')\n+    child = Body('child')\n+    l1 = Symbol('l1')\n+    l2 = Symbol('l2')\n+    sliding_joint = SlidingJoint('sliding_joint', parent, child,\n+                                 parent_point_pos=(0, l1, 0),\n+                                 child_point_pos=(0, l2, 0),\n+                                 parent_axis=parent.frame.z,\n+                                 child_axis=child.frame.y)\n+    assert sliding_joint.name == 'sliding_joint'\n+    assert sliding_joint.parent == parent\n+    assert sliding_joint.child == child\n+    assert sliding_joint._parent_joint_location == l1 * parent.frame.y\n+    assert sliding_joint._child_joint_location == l2 * child.frame.y\n+    assert sliding_joint.parent_axis == parent.frame.z\n+    assert sliding_joint.child_axis == child.frame.y\n+\n+\n+def test_cylindrical_joint():\n+    parent = Body('parent')\n+    child = Body('child')\n+    l = Symbol('l')\n+    cylindrical_joint = CylindricalJoint('cylindrical_joint', parent, child,\n+                                         child_point_pos=(l, l, 0))\n+\n+    assert cylindrical_joint.name == 'cylindrical_joint'\n+    assert cylindrical_joint.parent == parent\n+    assert cylindrical_joint.child == child\n+    assert cylindrical_joint._parent_joint_location == Vector(0)\n+    assert cylindrical_joint._child_joint_location == l * (child.frame.x +\n+                                                        child.frame.y)\n+    assert cylindrical_joint.parent_axis == parent.frame.x\n+    assert cylindrical_joint.child_axis == child.frame.x\n+\n+    dis = dynamicsymbols('cylindrical_joint_dis')\n+    disd = dynamicsymbols('cylindrical_joint_dis', 1)\n+    vel = dynamicsymbols('cylindrical_joint_vel')\n+\n+    theta = dynamicsymbols('cylindrical_joint_theta')\n+    thetad = dynamicsymbols('cylindrical_joint_theta', 1)\n+    omega = dynamicsymbols('cylindrical_joint_omega')\n+\n+    assert cylindrical_joint.coordinates == [dis, theta]\n+    assert cylindrical_joint.speeds == [vel, omega]\n+    assert cylindrical_joint.kds == [disd - vel, thetad - omega]\n+\n+    child_joint_point = cylindrical_joint.child_joint_point\n+    parent_joint_point = cylindrical_joint.parent_joint_point\n+    assert parent_joint_point.name == 'cylindrical_joint_parent_joint'\n+    assert child_joint_point.name == 'cylindrical_joint_child_joint'\n+    # assert child_joint_point.pos_from(parent_joint_point) == dis * parent.frame.x\n+    child_joint_masscenter = l * (child.frame.x + child.frame.y)\n+    assert child_joint_point.pos_from(child.masscenter) == child_joint_masscenter\n+    assert parent_joint_point.pos_from(parent.masscenter) == Vector(0)\n+    assert child.frame.ang_vel_in(parent.frame) == omega * parent.frame.x\n+\n+\n+def test_cylindrical_joint_arguments():\n+    parent = Body('parent')\n+    child = Body('child')\n+    l1 = Symbol('l1')\n+    l2 = Symbol('l2')\n+    cylindrical_joint = CylindricalJoint('cylindrical_joint', parent, child,\n+                                         parent_point_pos=(0, l1, 0),\n+                                         child_point_pos=(0, l2, 0),\n+                                         parent_axis=parent.frame.y,\n+                                         child_axis=parent.frame.z)\n+    assert cylindrical_joint.name == 'cylindrical_joint'\n+    assert cylindrical_joint.parent == parent\n+    assert cylindrical_joint.child == child\n+    assert cylindrical_joint.parent_axis == parent.frame.y\n+    assert cylindrical_joint.child_axis == parent.frame.z\n+    assert cylindrical_joint._parent_joint_location == l1 * parent.frame.y\n+    assert cylindrical_joint._child_joint_location == l2 * child.frame.y\n+\n+\n+def test_planar_joint():\n+    parent = Body('parent')\n+    child = Body('child')\n+    l = Symbol('l')\n+    planar_joint = PlanarJoint('planar_joint', parent, child,\n+                               child_point_pos=(0, l, 0),\n+                               parent_axis=parent.frame.y,\n+                               child_axis=child.frame.y)\n+\n+    assert planar_joint.name == 'planar_joint'\n+    assert planar_joint.parent == parent\n+    assert planar_joint.child == child\n+    assert planar_joint._parent_joint_location == Vector(0)\n+    assert planar_joint._child_joint_location == l * child.frame.y\n+    assert planar_joint.parent_axis == parent.frame.y\n+\n+    theta = dynamicsymbols('planar_joint_theta')  # rotation around z axis.\n+    thetad = dynamicsymbols('planar_joint_theta', 1)\n+    omega = dynamicsymbols('planar_joint_omega')\n+    disx = dynamicsymbols('planar_joint_disx')  # translation along x axis.\n+    disxd = dynamicsymbols('planar_joint_disx', 1)\n+    velx = dynamicsymbols('planar_joint_velx')\n+    disy = dynamicsymbols('planar_joint_disy')  # translation along y axis.\n+    disyd = dynamicsymbols('planar_joint_disy', 1)\n+    vely = dynamicsymbols('planar_joint_vely')\n+\n+    assert planar_joint.coordinates == [theta, disx, disy]\n+    assert planar_joint.speeds == [omega, velx, vely]\n+    assert planar_joint.kds == [thetad - omega, disxd - velx, disyd - vely]\n+\n+    child_joint_point = planar_joint.child_joint_point\n+    parent_joint_point = planar_joint.parent_joint_point\n+    assert parent_joint_point.name == 'planar_joint_parent_joint'\n+    assert child_joint_point.name == 'planar_joint_child_joint'\n+    assert child_joint_point.pos_from(parent_joint_point) == Vector(0)\n+    assert child_joint_point.pos_from(child.masscenter) == l * child.frame.y\n+    assert parent_joint_point.pos_from(parent.masscenter) == Vector(0)\n+\n+    vecx = cross(planar_joint.parent_axis, planar_joint._child_joint_location)\n+    assert planar_joint.vecx == vecx\n+    vecy = cross(planar_joint.parent_axis, vecx)\n+    assert planar_joint.vecy == vecy\n+    assert planar_joint.vecz == planar_joint.parent_axis\n+\n+    assert child.frame.ang_vel_in(parent.frame) == omega * planar_joint.parent_axis","path":"sympy/physics/mechanics/tests/test_joint.py","position":242,"original_position":225,"commit_id":"b593e286c2c64badb2509bb7e3475ba2b072a9fd","original_commit_id":"83c88a8800d9d44ffadd0a9f79c738360f93e8a9","user":{"login":"sahilshekhawat","id":5890452,"avatar_url":"https://avatars.githubusercontent.com/u/5890452?v=3","gravatar_id":"","url":"https://api.github.com/users/sahilshekhawat","html_url":"https://github.com/sahilshekhawat","followers_url":"https://api.github.com/users/sahilshekhawat/followers","following_url":"https://api.github.com/users/sahilshekhawat/following{/other_user}","gists_url":"https://api.github.com/users/sahilshekhawat/gists{/gist_id}","starred_url":"https://api.github.com/users/sahilshekhawat/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sahilshekhawat/subscriptions","organizations_url":"https://api.github.com/users/sahilshekhawat/orgs","repos_url":"https://api.github.com/users/sahilshekhawat/repos","events_url":"https://api.github.com/users/sahilshekhawat/events{/privacy}","received_events_url":"https://api.github.com/users/sahilshekhawat/received_events","type":"User","site_admin":false},"body":"Added.","created_at":"2015-08-19T09:16:17Z","updated_at":"2015-08-19T09:16:17Z","html_url":"https://github.com/sympy/sympy/pull/9809#discussion_r37394644","pull_request_url":"https://api.github.com/repos/sympy/sympy/pulls/9809","_links":{"self":{"href":"https://api.github.com/repos/sympy/sympy/pulls/comments/37394644"},"html":{"href":"https://github.com/sympy/sympy/pull/9809#discussion_r37394644"},"pull_request":{"href":"https://api.github.com/repos/sympy/sympy/pulls/9809"}}},"pull_request":{"url":"https://api.github.com/repos/sympy/sympy/pulls/9809","id":42150295,"html_url":"https://github.com/sympy/sympy/pull/9809","diff_url":"https://github.com/sympy/sympy/pull/9809.diff","patch_url":"https://github.com/sympy/sympy/pull/9809.patch","issue_url":"https://api.github.com/repos/sympy/sympy/issues/9809","number":9809,"state":"open","locked":false,"title":"Added all specific joints class","user":{"login":"sahilshekhawat","id":5890452,"avatar_url":"https://avatars.githubusercontent.com/u/5890452?v=3","gravatar_id":"","url":"https://api.github.com/users/sahilshekhawat","html_url":"https://github.com/sahilshekhawat","followers_url":"https://api.github.com/users/sahilshekhawat/followers","following_url":"https://api.github.com/users/sahilshekhawat/following{/other_user}","gists_url":"https://api.github.com/users/sahilshekhawat/gists{/gist_id}","starred_url":"https://api.github.com/users/sahilshekhawat/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sahilshekhawat/subscriptions","organizations_url":"https://api.github.com/users/sahilshekhawat/orgs","repos_url":"https://api.github.com/users/sahilshekhawat/repos","events_url":"https://api.github.com/users/sahilshekhawat/events{/privacy}","received_events_url":"https://api.github.com/users/sahilshekhawat/received_events","type":"User","site_admin":false},"body":"- [ ] There are no merge conflicts.\r\n- [ ] If there is a related issue, a reference to that issue is in the\r\n  commit message.\r\n- [ ] Unit tests have been added for the new feature.\r\n- [ ] The PR passes tests both locally (run `nosetests`) and on Travis CI.\r\n- [ ] All public methods and classes have docstrings. (We use the [numpydoc\r\n  format](https://github.com/numpy/numpy/blob/master/doc/HOWTO_DOCUMENT.rst.txt).)\r\n- [ ] An explanation has been added to the online documentation. (`docs`\r\n  directory)\r\n- [ ] The code follows PEP8 guidelines. (use a linter, e.g.\r\n  [pylint](http://www.pylint.org), to check your code)\r\n- [ ] The new feature is documented in the [Release\r\n  Notes](https://github.com/pydy/pydy#release-notes).\r\n- [ ] The code is backwards compatible. (All public methods/classes must\r\n  follow deprecation cycles.)\r\n- [ ] All reviewer comments have been addressed.\r\n- [ ] Add the body class to the Sphinx api docs so that the docstrings are rendered in the sphinx docs.\r\n- [ ] Add tests for SphericalJoint.\r\n- [ ] Add tests for 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