def_rot_axis_FoR_wrt_node_general

This function generates the stiffness and damping matrices and the independent vector associated to a joint that forces the rotation axis of a FoR to be parallel to a certain direction. This direction is defined in the B FoR of a node and, thus, might change along the simulation.

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 indep:

Number of the equations that are used as independent

type indep:

np.ndarray

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

Notes: this function is missing the contribution of the rotation velocity of the reference node. See def_rot_axis_FoR_wrt_node_general