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