From 296417dadf81511a5e60506f78423af84a4170f6 Mon Sep 17 00:00:00 2001 From: Fredrik Bagge Carlson Date: Tue, 10 Sep 2024 07:59:41 +0200 Subject: [PATCH] simplify wheel variables when iscut --- src/wheels.jl | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/src/wheels.jl b/src/wheels.jl index c73fb08f..bd6f9432 100644 --- a/src/wheels.jl +++ b/src/wheels.jl @@ -425,8 +425,8 @@ function RollingWheelSetJoint(; support = Rotational.Flange() end if iscut - @named freemotion = FreeMotion(iscut=false, isroot=true, state=false) - push!(systems, freemotion) + # @named freemotion = FreeMotion(iscut=false, isroot=false, state=false) + # push!(systems, freemotion) else more = @named begin revolute = Revolute(; render, n = [0, 1, 0], color) @@ -448,12 +448,16 @@ function RollingWheelSetJoint(; equations = Equation[ if iscut [ - connect(freemotion.frame_a, fixed.frame_b) - connect(freemotion.frame_b, frame_middle) - freemotion.r_rel_a[1] ~ x - freemotion.r_rel_a[3] ~ z + # connect(freemotion.frame_a, fixed.frame_b) + # connect(freemotion.frame_b, frame_middle) + # freemotion.r_rel_a[1] ~ x + # freemotion.r_rel_a[3] ~ z # freemotion.phi[2] ~ phi + phi ~ 0 + + x ~ frame_middle.r_0[1] + z ~ frame_middle.r_0[3] ] else [prismatic1.s ~ x