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)