Damping implements a damping Force on the generalized coordinates of a system:
where the damping constant \(c_i\) is a positive real number.
One instance of Damping defines damping parameters for every configuration variable in the system. You can specify values for specific configuration variables and have a default value for the other variables.
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
damped-pendulum.py, extensor-tendon-model.py, forced-pendulum-inverse-dynamics.py, initial-conditions.py, pccd.py, pend-on-cart-optimization.py, puppet-basic.py, puppet-continuous-moving.py, puppet-moving.py, pyconfig-spring.py, pypccd.py, radial.py
Create a new damping force for the system. default is the default damping coefficient.
Damping coefficients for specific configuration variables can be specified with coefficients. This should be a dictionary mapping configuration variables (or their names or index) to the damping coefficient:
trep.forces.Damping(system, 0.1, {'theta' : 1.0})
The default damping coefficient for configuration variable.
Return the damping coefficient for the specified configuration variable. If the configuration variable does not have a set value, the default value is returned.
Set the damping coefficient for a specific configuration variable. If coeff is None, the specific coefficient for that variable will be deleted and the default value will be used.