{"action":"created","comment":{"url":"https://api.github.com/repos/sympy/sympy/pulls/comments/36888368","id":36888368,"diff_hunk":"@@ -0,0 +1,239 @@\n+from sympy import Symbol\n+from sympy.physics.vector import ReferenceFrame, Point\n+from sympy.physics.mechanics import inertia, RigidBody, KanesMethod, \\\n+    dynamicsymbols\n+\n+from pydy.bodies import Body\n+from pydy.joints import PinJoint, SlidingJoint, CylindricalJoint\n+from pydy.joints_method import JointsMethod\n+\n+\n+class TestPinJoint():\n+    def setup(self):\n+        parent = Body('parent')\n+        child = Body('child')\n+\n+        gravity = Symbol('gravity')\n+        # add gravity force in y direction at the center of mass of child.\n+        child.add_force((0, child.get_mass() * gravity, 0), child.get_masscenter())\n+\n+        self.pin_joint = PinJoint('pin_joint', parent, child, parent_point_pos=(1, 1, 1),\n+                             child_point_pos=(1, 1, 1))\n+\n+        JM = JointsMethod([self.pin_joint], parent)\n+        self.eom = JM.rhs()\n+\n+    def test_simple_equations_of_motion(self):\n+        # parent\n+        p_name = \"parent\"\n+        p_frame = ReferenceFrame(p_name + '_frame')\n+        p_masscenter = Point(p_name + '_masscenter')\n+        p_masscenter.set_vel(p_frame, 0)\n+        p_mass = Symbol(p_name + '_mass')\n+        p_inertia = (inertia(p_frame, 1, 1, 1), p_masscenter)\n+        parent = RigidBody(p_name, p_masscenter, p_frame, p_mass, p_inertia)\n+        # child\n+        c_name = \"child\"\n+        c_frame = ReferenceFrame(c_name + '_frame')\n+        c_masscenter = Point(c_name + '_masscenter')\n+        c_masscenter.set_vel(c_frame, 0)\n+        c_mass = Symbol(c_name + '_mass')\n+        c_inertia = (inertia(c_frame, 1, 1, 1), c_masscenter)\n+        child = RigidBody(c_name, c_masscenter, c_frame, c_mass, c_inertia)\n+\n+        # pinjoint\n+        theta = dynamicsymbols('theta')\n+        thetad = dynamicsymbols('theta', 1)\n+        omega = dynamicsymbols('omega')\n+\n+        p_axis = p_frame.x\n+        c_axis = c_frame.x\n+\n+        c_frame.orient(p_frame, 'Axis', [theta, p_axis])\n+        c_frame.set_ang_vel(p_frame, omega * p_axis)\n+\n+        p_joint_point = p_masscenter.locatenew(\n+            p_name + '_parent_joint',\n+            p_frame.x + p_frame.y + p_frame.z)\n+\n+        c_joint_point = c_masscenter.locatenew(\n+            c_name + '_child_joint',\n+            c_frame.x + c_frame.y + c_frame.z)\n+\n+        c_joint_point.set_pos(p_joint_point, 0)\n+        c_masscenter.v2pt_theory(p_masscenter, p_frame, c_frame)\n+\n+        # JointsMethod\n+        q_ind = [theta]\n+        u_ind = [omega]\n+        kd = [thetad - omega]\n+        BL = [parent, child]\n+        gravity = Symbol('gravity')\n+        FL = [(c_masscenter, c_mass * gravity * c_frame.y)]\n+\n+        KM = KanesMethod(p_frame, q_ind=q_ind, u_ind=u_ind, kd_eqs=kd)\n+        (fr, frstar) = KM.kanes_equations(FL, BL)\n+        eom = KM.rhs()\n+\n+        assert eom == self.eom\n+\n+\n+class TestSlidingJoint():\n+    def setup(self):\n+        parent = Body('parent')\n+        child = Body('child')\n+\n+        gravity = Symbol('gravity')\n+        child.add_force((child.get_mass() * gravity, 0, 0), child.get_masscenter())\n+\n+        sliding_joint = SlidingJoint('sliding_joint', parent, child,\n+                                     parent_point_pos=(1, 1, 1),\n+                                     child_point_pos=(1, 1, 1))\n+\n+        spring_constant = Symbol('k')\n+        child.add_force((spring_constant * sliding_joint.get_coordinates()[0], 0, 0),\n+                        child.get_masscenter())\n+\n+        JM = JointsMethod([sliding_joint], parent)\n+        self.eom = JM.rhs()\n+\n+    def test_simple_equations_of_motion(self):\n+        # parent\n+        p_name = \"parent\"\n+        p_frame = ReferenceFrame(p_name + '_frame')\n+        p_masscenter = Point(p_name + '_masscenter')\n+        p_masscenter.set_vel(p_frame, 0)\n+        p_mass = Symbol(p_name + '_mass')\n+        p_inertia = (inertia(p_frame, 1, 1, 1), p_masscenter)\n+        parent = RigidBody(p_name, p_masscenter, p_frame, p_mass, p_inertia)\n+\n+        # child\n+        c_name = \"child\"\n+        c_frame = ReferenceFrame(c_name + '_frame')\n+        c_masscenter = Point(c_name + '_masscenter')\n+        c_masscenter.set_vel(c_frame, 0)\n+        c_mass = Symbol(c_name + '_mass')\n+        c_inertia = (inertia(c_frame, 1, 1, 1), c_masscenter)\n+        child = RigidBody(c_name, c_masscenter, c_frame, c_mass, c_inertia)\n+\n+        # sliding joint\n+        dis = dynamicsymbols('dis')\n+        disd = dynamicsymbols('dis', 1)\n+        vel = dynamicsymbols('vel')\n+\n+        p_direction = p_frame.x\n+        c_direction = c_frame.x\n+\n+        c_frame.orient(p_frame, 'Axis', [0, p_frame.x])\n+\n+        p_joint_point = p_masscenter.locatenew(\n+            p_name + '_parent_joint',\n+            p_frame.x + p_frame.y + p_frame.z)\n+\n+        c_joint_point = c_masscenter.locatenew(\n+            c_name + '_child_joint',\n+            c_frame.x + c_frame.y + c_frame.z)\n+\n+        p_joint_point.set_vel(p_frame, 0)\n+        c_joint_point.set_vel(c_frame, 0)\n+\n+        c_joint_point.set_pos(p_joint_point, dis * p_direction)\n+        c_joint_point.set_vel(p_frame, vel * p_direction)\n+        c_masscenter.set_vel(p_frame, vel * p_direction)\n+\n+        # JointsMethod\n+        q_ind = [dis]\n+        u_ind = [vel]\n+        kd = [disd - vel]\n+        BL = [parent, child]\n+        gravity = Symbol('gravity')\n+        spring_constant = Symbol('k')\n+        # Note: Here, spring force is in direction c_frame.x + c_frame.y\n+        # but due to sliding joint's restriction of degree of freedom,\n+        # the child is moving only in c_frame.x\n+        FL = [(c_masscenter, c_mass * gravity * c_frame.x),\n+              (c_masscenter, spring_constant * dis * (c_frame.x + c_frame.y))]\n+        KM = KanesMethod(p_frame, q_ind=q_ind, u_ind=u_ind, kd_eqs=kd)\n+        (fr, frstar) = KM.kanes_equations(FL, BL)\n+        eom = KM.rhs()\n+\n+        assert eom == self.eom\n+\n+\n+class TestCylindricalJoint():\n+    def setup(self):\n+        parent = Body('parent')\n+        child = Body('child')\n+\n+        cylindrical_joint = CylindricalJoint('cylindrical_joint', parent, child,\n+                                             child_point_pos=(1, 1, 1))\n+\n+        JM = JointsMethod([cylindrical_joint], parent)\n+        self.eom = JM.rhs()\n+\n+    def test_simple_equation_of_motion(self):\n+        # parent\n+        p_name = \"parent\"\n+        p_frame = ReferenceFrame(p_name + '_frame')\n+        p_masscenter = Point(p_name + '_masscenter')\n+        p_masscenter.set_vel(p_frame, 0)\n+        p_mass = Symbol(p_name + '_mass')\n+        p_inertia = (inertia(p_frame, 1, 1, 1), p_masscenter)\n+        parent = RigidBody(p_name, p_masscenter, p_frame, p_mass, p_inertia)\n+\n+        # child\n+        c_name = \"child\"\n+        c_frame = ReferenceFrame(c_name + '_frame')\n+        c_masscenter = Point(c_name + '_masscenter')\n+        c_masscenter.set_vel(c_frame, 0)\n+        c_mass = Symbol(c_name + '_mass')\n+        c_inertia = (inertia(c_frame, 1, 1, 1), c_masscenter)\n+        child = RigidBody(c_name, c_masscenter, c_frame, c_mass, c_inertia)\n+\n+        # Cylindrical joint\n+        dis = dynamicsymbols('dis')\n+        disd = dynamicsymbols('dis', 1)\n+        vel = dynamicsymbols('vel')\n+        theta = dynamicsymbols('theta')\n+        thetad = dynamicsymbols('theta', 1)\n+        omega = dynamicsymbols('omega')","path":"sympy/physics/mechanics/tests/test_joint.py","position":199,"original_position":199,"commit_id":"526e4827287daaee86c864bc85afbd9dafaf4069","original_commit_id":"526e4827287daaee86c864bc85afbd9dafaf4069","user":{"login":"moorepants","id":276007,"avatar_url":"https://avatars.githubusercontent.com/u/276007?v=3","gravatar_id":"","url":"https://api.github.com/users/moorepants","html_url":"https://github.com/moorepants","followers_url":"https://api.github.com/users/moorepants/followers","following_url":"https://api.github.com/users/moorepants/following{/other_user}","gists_url":"https://api.github.com/users/moorepants/gists{/gist_id}","starred_url":"https://api.github.com/users/moorepants/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/moorepants/subscriptions","organizations_url":"https://api.github.com/users/moorepants/orgs","repos_url":"https://api.github.com/users/moorepants/repos","events_url":"https://api.github.com/users/moorepants/events{/privacy}","received_events_url":"https://api.github.com/users/moorepants/received_events","type":"User","site_admin":false},"body":"Unique names are needed, I suggest `x,v` for distance and velocity.","created_at":"2015-08-12T17:28:27Z","updated_at":"2015-08-12T17:28:27Z","html_url":"https://github.com/sympy/sympy/pull/9809#discussion_r36888368","pull_request_url":"https://api.github.com/repos/sympy/sympy/pulls/9809","_links":{"self":{"href":"https://api.github.com/repos/sympy/sympy/pulls/comments/36888368"},"html":{"href":"https://github.com/sympy/sympy/pull/9809#discussion_r36888368"},"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 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