def_rot_vel_FoR_wrt_node¶

This function generates the stiffness and damping matrices and the independent vector associated to a joint that forces the rotation velocity of a FoR with respect to a node

See LagrangeConstraints for the description of variables

param rot_axisB: Rotation axis with respect to the node B FoR
type rot_axisB: np.ndarray
param rot_vel: Rotation velocity
type rot_vel: float
param node_number: number of the “node” within its own body
type node_number: int
param node_body: body number of the “node”
type node_body: int
param node_FoR_dof: position of the first degree of freedom of the FoR to which the “node” belongs
type node_FoR_dof: int
param node_dof: position of the first degree of freedom associated to the “node”
type node_dof: int
param FoR_body: body number of the “FoR”
type FoR_body: int
param FoR_dof: position of the first degree of freedom associated to the “FoR”
type FoR_dof: int