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Upgrade rigid body code from mechanics package #509
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added 30 commits
March 23, 2022 08:56
Codecov Report
@@ Coverage Diff @@
## main #509 +/- ##
==========================================
- Coverage 86.53% 86.53% -0.01%
==========================================
Files 104 104
Lines 15124 15225 +101
Branches 781 780 -1
==========================================
+ Hits 13088 13175 +87
- Misses 1255 1270 +15
+ Partials 781 780 -1
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added 13 commits
March 26, 2022 11:47
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March 26, 2022 21:20
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Upgrade rigid body code from mechanics package #509:
Fixes a bug with
down*Matrixmultiplication, and adds tests forcorrectness.
Adds
sicmutils.matrix.{symmetric?,antisymmetric?}predicatesThe mechanics port continues with
sicmutils.mechanics.rigid:T-rigid-bodymoves toT-body-Eulerwith an alias back to its originalname. Same situation for
Euler-state->L-body=>L-body-EulerandEuler-state->L-space=>L-space-Euler.New functions:
three-vector-components->antisymmetric,T-body,L-body,L-space,Euler->omega,Euler->omega-body,quaternion-state->omega-body,quaternion-state->omega-space,qw-state->L-body,qw-state->L-space,T-quaternion-state