generate_lagrange_matrix¶

generate_lagrange_matrix

Generates the matrices associated to the Lagrange multipliers boundary conditions

param lc_list(): list of all the defined contraints
param MBdict: dictionary with the MultiBody and LagrangeMultipliers information
type MBdict: dict
param MB_beam: list of ‘beams’ of each of the bodies that form the system
type MB_beam: list
param MB_tstep: list of ‘StructTimeStepInfo’ of each of the bodies that form the system
type MB_tstep: list
param num_LM_eq: number of new equations needed to define the boundary boundary conditions
type num_LM_eq: int
param sys_size: total number of degrees of freedom of the multibody system
type sys_size: int
param dt: time step
type dt: float
param Lambda: list of Lagrange multipliers values
type Lambda: np.ndarray
param Lambda_dot: list of the first derivative of the Lagrange multipliers values
type Lambda_dot: np.ndarray
param dynamic_or_static: string defining if the computation is dynamic or static
type dynamic_or_static: str
returns: Damping matrix associated to the Lagrange Multipliers equations LM_K (np.ndarray): Stiffness matrix associated to the Lagrange Multipliers equations LM_Q (np.ndarray): Vector of independent terms associated to the Lagrange Multipliers equations
rtype: LM_C (np.ndarray)