Implementation of 6DOF robot #29
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KristofferC
reviewed
Apr 26, 2023
| import ModelingToolkitStandardLibrary.Blocks | ||
| using ModelingToolkitStandardLibrary.Electrical | ||
| t = Multibody.t | ||
| D = Differential(t) |
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it doesn't matter that much since they are part of a top-level example user script to build an MTK model. The performance sensitive parts are all taking place inside of MTK
YingboMa
reviewed
Apr 27, 2023
| @@ -26,7 +26,7 @@ function Base.broadcasted(::typeof(~), lhs::Symbolics.Arr{Num, 1}, | |||
| end | |||
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| function Base.broadcasted(D::Differential, x::Symbolics.Arr{Num, 1}) | |||
| collect([D(x) for x in x]) | |||
| collect([D(x) for x in collect(x)]) | |||
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Suggested change
| collect([D(x) for x in collect(x)]) | |
| [D(x) for x in collect(x)] |
due to SymbolicIR tracing through the interpolation
only with MTK, SymbolicIR fails
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Refs:
Todo
Notes
EMFcomponent does not have an option foruseSupport=falsewhich the modelica robot uses, will this lead to an unbalanced model?TODOandNOTEin the source code