Week 34
This week I finally set this PR on intermediate frames as ready to review. Besides that I have also created a PR, which adds the optional frame argument to RigidBody.parallel_axis
and also implements the parallel_axis
method for the Body
class. As well as a PR which partially fixes the issue of KanesMethod
not being compatible with Body
objects, which represents a Particle
. This is done by changing the inertia of a Body
representing a Particle
to zero. Besides that this PR also adds a central inertia setter to RigidBody
. As a last thing I have been working on is the implementation of new joint types, mainly the SphericalJoint
. However I have not yet published a PR for this, since my implementation is currently dependent on the PR on intermediate frames.
Issues and PRs I’m working on:
- This PR which switches the
Joint
definition to use intermediate frames. - This PR which implements the
parallel_axis
method for theBody
class. - This PR which changes the inertia of a
Body
representing aParticle
to zero. - Raised issue about the dependency between
test_pinjoin_arbitrary_axis
andtest_functions.py
. - Raised issue about a problem that defining a new joint in a certain way can lead to a deletion of a previous joint.
- Raised issue about the inconsistency in storing velocity and acceleration data in the
Point
class. - My comment on how we could make the
Body
class more analogous to aReferenceFrame
.
Some other opened issues an PRs, which I have open, but am not currently working on:
- PR I reviewed (awaiting changes)
- Issue about image readability in the new dark theme.
- Issue about using a recursive calculation of the velocity in the
Point.vel
method - Draft PR which adds a check on the velocity and acceleration theories as mentioned in the old PR
- Needs a decision as mentioned in this comment
- An issue I’m participating in, which is about making the
KanesMethod
compatible with theBody
class.
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