Source Code for Module mbdyn.bindings.nodes

  1  #!/usr/bin/env python 
  2  # -*- coding: utf-8 -*- 
  3  # 
  4  # This file is part of MBDyn sim suite. 
  5  # Copyright (C) 2007 André ESPAZE, as part of a Master thesis supervised by 
  6  # Martin O.L.Hansen (DTU) and Nicolas Chauvat (Logilab) 
  7   
  8  # MBDyn sim suite is free software; you can redistribute it and/or modify 
  9  # it under the terms of the GNU General Public License as published by 
 10  # the Free Software Foundation; either version 2 of the License, or 
 11  # (at your option) any later version. 
 12  # 
 13  # This program is distributed in the hope that it will be useful, 
 14  # but WITHOUT ANY WARRANTY; without even the implied warranty of 
 15  # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
 16  # GNU General Public License for more details. 
 17  # 
 18  # You should have received a copy of the GNU General Public License 
 19  # along with this program; if not, write to the Free Software 
 20  # Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 
 21  # 
 22  """The general interface of MBDyn nodes. Each node group will have a 
 23  general class but until now the only group implemented is  
 24  the structural one. This file is however a start for further  
 25  development. The SWIG file used for the interface is 'I{node.i}'.  
 26  All the classes of that module are then imported in the  
 27  L{mbdyn.bindings.groups} thanks to the C{NODE_CLASS} 
 28  dictionary.""" 
 29  import numpy as N 
 30  from mbdyn.bindings.basic_objects import Node, fill_vector, fill_matrix 
 31   
 32   
 33 -class Abstract(Node): 
 34      """The general node for the "ABSTRACT" group""" 
 35      pass 
 36   
 37 -class Structural(Node): 
 38      """The general node for the "STRUCTURAL" group. 
 39      This class is described in the C++ file 'I{strnode.h}'. 
 40      The concerned definition is C{StructNode}.""" 
 41       
 42 -    def __init__(self, c_inst): 
 43          Node.__init__(self, c_inst) 
 44   
 45          self.position = N.zeros((3, 1)) 
 46          self.rotation_matrix = N.zeros((3, 3)) 
 47          self.velocity = N.zeros((3, 1)) 
 48          self.angular_velocity = N.zeros((3, 1)) 
 49           
 50 -    def _get_position(self): 
 51          """Get the position from the MBDyn node""" 
 52          vec3 = self.c_inst.GetXCurr() 
 53          fill_vector(self.position, vec3) 
 54       
 55 -    def get_position(self): 
 56          """Return a copy of the position array. 
 57   
 58          @rtype: Numpy array 
 59          @return: vector of size 3x1""" 
 60          self._get_position() 
 61          return self.position.copy() 
 62       
 63 -    def _get_rotation_matrix(self): 
 64          """Get the rotation matrix from the MBDyn node""" 
 65          mat3x3 = self.c_inst.GetRCurr() 
 66          fill_matrix(self.rotation_matrix, mat3x3) 
 67   
 68 -    def get_rotation_matrix(self): 
 69          """Return a copy of the rotation matrix array 
 70          the definition of its local reference frame. 
 71           
 72          @rtype: Numpy array 
 73          @return: matrix of size 3x3""" 
 74          self._get_rotation_matrix() 
 75          return self.rotation_matrix.copy() 
 76       
 77 -    def _get_velocity(self): 
 78          """Get the velocity from the MBDyn node.""" 
 79          vec3 = self.c_inst.GetVCurr() 
 80          fill_vector(self.velocity, vec3) 
 81   
 82 -    def get_velocity(self): 
 83          """Return a copy of the velocity array. 
 84           
 85          @rtype: Numpy array 
 86          @return: vector of size 3x1""" 
 87          self._get_velocity() 
 88          return self.velocity.copy() 
 89   
 90 -    def _get_angular_velocity(self): 
 91          """Get the angular velocity from the MBDyn node.""" 
 92          vec3 = self.c_inst.GetWCurr() 
 93          fill_vector(self.angular_velocity, vec3) 
 94   
 95 -    def get_angular_velocity(self): 
 96          """Return a copy of the angular velocity array. 
 97           
 98          @rtype: Numpy array 
 99          @return: vector of size 3x1""" 
100          self._get_angular_velocity() 
101          return self.angular_velocity.copy() 
102       
103 -    def __repr__(self): 
104          """Return the node representation as a string""" 
105          mess = "StructNode with label %s in MBDyn" 
106          return mess % str(self.label) 
107   
108   
109 -class Electric(Node): 
110      """The general node for the "ELECTRIC" group""" 
111      pass 
112   
113 -class Parameter(Node): 
114      """The general node for the "PARAMETER" group""" 
115      pass 
116   
117 -class Hydraulic(Node): 
118      """The general group for the "HYDRAULIC" group""" 
119      pass 
120   
121   
122  NODE_CLASS_TABLE = [ 
123  ("ABSTRACT",  Abstract),  
124  ("STRUCTURAL",  Structural), 
125  ("ELECTRIC",  Electric),  
126  ("PARAMETER",  Parameter), 
127  ("HYDRAULIC",  Hydraulic) 
128  ] 
129   
130  NODE_CLASS = {} 
131   
132  for group_key, general_class in NODE_CLASS_TABLE: 
133      NODE_CLASS[group_key] = {"general" : general_class} 
134