ConfigForce – Apply forces to a configuration variable.

ConfigForce creates an input variable that applies a force directly to a configuration variable:

\[F_{q_i} = u(t)\]

where the \(u(t)\) is a Input variable.

Implemented Calculations

Calculation	Implemented
f	Y
f_dq	Y
f_ddq	Y
f_du	Y
f_dqdq	Y
f_ddqdq	Y
f_ddqddq	Y
f_dudq	Y
f_duddq	Y
f_dudu	Y

Examples

forced-pendulum-inverse-dynamics.py, initial-conditions.py, pend-on-cart-optimization.py

class trep.forces.ConfigForce(system, config, finput, name=None)

Create a new input to apply a force on a configuration variable.

config should be an existing configuration variable (a name, index, or object).

finput should be a string to name the new input variable.

ConfigForce.finput

The input variable (Input) that controls this force.

ConfigForce.config

The configuration variable (Config) that this force is applied to.