disp_and_accel2state

disp2state

Fills the vector of states according to the displacements information

param MB_beam

each entry represents a body

type MB_beam

list(Beam)

param MB_tstep

each entry represents a body

type MB_tstep

list(StructTimeStepInfo)

param Lambda

Lagrange multipliers of holonomic constraints

type Lambda

np.ndarray

param Lambda_dot

Lagrange multipliers of non-holonomic constraints

type Lambda_dot

np.ndarray

param sys_size

number of degrees of freedom of the system of equations not accounting for lagrange multipliers

type sys_size

int

param num_LM_eq

Number of equations associated to the Lagrange Multipliers

type num_LM_eq

int

param q

Vector of states

type q

np.ndarray

param dqdt

Time derivatives of states

type dqdt

np.ndarray

param dqddt

Second time derivatives of states

type dqddt

np.ndarray