ball rolling on a spinning disc #210
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What is the meaning of the test which failed? It ran fine with me. |
moorepants
reviewed
Sep 9, 2024
| # If the ball rotates around the x axis by an angle :math:`q_1` | ||
| # the contact point will be move by :math:`-q_1 \cdot r` in the :math:`\hat{A2}.y` | ||
| # direction. If the ball rotates around the y axis by an angle :math:`q_2` the | ||
| # contact point will be move by :math:`q_2 \cdot r` in the :math:`\hat{A2}.x` |
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:math:\hat{A2}.x`` is unusual math notation. It should at least be _x, but above you also have the `2` and subscript.
moorepants
reviewed
Sep 9, 2024
| # direction. Hence the configuration constraints are: | ||
| # | ||
| # - :math:`x = r \cdot q_2` | ||
| # - :math:`y = -r \cdot q_1` |
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I'd prefer if we didn't use \cdot for scalar multiplication. There isn't much reason to add a symbol for scalar multiplication, i.e.
moorepants
reviewed
Sep 9, 2024
| # As :math:`T(t) = const \cdot t` I set these derivatives accordingly. | ||
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| # %% | ||
| # I do not use qdisc = sm.integrate(udisc, t), as this gives |
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Suggested change
| # I do not use qdisc = sm.integrate(udisc, t), as this gives | |
| # I do not use ``qdisc = sm.integrate(udisc, t)``, as this gives |
moorepants
reviewed
Sep 9, 2024
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| # %% | ||
| # I do not use qdisc = sm.integrate(udisc, t), as this gives | ||
| # a sm.Piecewise(..) result, likely not differentiable everywhere, |
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Suggested change
| # a sm.Piecewise(..) result, likely not differentiable everywhere, | |
| # a ``sm.Piecewise(..)`` result, likely not differentiable everywhere, |
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I will make all the changes you suggested and push again this afternoon. |
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It is in. Thanks. |
Thank YOU!! |
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A ball rolls on a spinning disc. opty's job is to get it to the center. Now setting up the oems once only, for both reaction forces and optimization works. You may recall, that I did not manage earlier, but noew it worked without any problems. No idea what I did wrong before.