From d7872c3de6f84232d7980c578a78e84fd1a94e02 Mon Sep 17 00:00:00 2001 From: tjstienstra Date: Tue, 26 Mar 2024 12:09:13 +0100 Subject: [PATCH] Reduce number of operations in the EoMs by using v2pt_theory formulation --- src/brim/bicycle/tires.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/brim/bicycle/tires.py b/src/brim/bicycle/tires.py index 60213bea..033d5cb3 100644 --- a/src/brim/bicycle/tires.py +++ b/src/brim/bicycle/tires.py @@ -308,8 +308,8 @@ def _define_constraints(self) -> None: if self.no_longitudinal_slip or self.no_lateral_slip: aux_wc = self.auxiliary_handler.get_auxiliary_velocity(self.wheel.center) v0 = (self.wheel.center.pos_from(self.ground.origin).dt(self.ground.frame) - + cross(self.wheel.frame.ang_vel_in(self.ground.frame), - self.contact_point.pos_from(self.wheel.center))) + - cross(self.contact_point.pos_from(self.wheel.center), + self.wheel.frame.ang_vel_in(self.ground.frame))) aux_v0 = aux_wc - aux_gnd + aux_cp for vector in no_slip_vectors: self.system.add_nonholonomic_constraints(