Like ConfigSpring which creates a spring force directly on a generalized coordinate, a NonlinearConfigSpring implements a force, F_{q} on a generalized coordinate which can be a function of configuration:
where f is a spline function provided by the user, m is a linear scaling factor, and b is an offset value.
Implemented Calculations Calculation Implemented V N V_dq Y V_dqdq Y V_dqdqdq Y
Create a new nonlinear spring acting on the specified configuration variable. The configuration variable must already exist in the system.
The configuration variable that spring depends and acts on.
(read only)
A Spline object relating the configuration to force. See the trep.Spline documentation to create a spline object.
A linear scaling factor on the configuration.
An offset factor on the scaled configuration.