Wrapping Geometry (Docstrings)¶
Geometry objects for use by wrapping pathways.
- class sympy.physics.mechanics.wrapping_geometry.WrappingCylinder(radius, point, axis)[source]¶
A solid (infinite) cylindrical object.
- Parameters:
radius : Symbol
The radius of the cylinder.
point : Point
A point through which the cylinder’s axis passes.
axis : Vector
The axis along which the cylinder is aligned.
Explanation
A wrapping geometry that allows for circular arcs to be defined between pairs of points. These paths are always geodetic (the shortest possible) in the sense that they will be a straight line on the unwrapped cylinder’s surface. However, it is also possible for a direction to be specified, i.e. paths can be influenced such that they either wrap along the shortest side or the longest side of the cylinder. To define these directions, rotations are in the positive direction following the right-hand rule.
Examples
To create a
WrappingCylinder
instance, aSymbol
denoting its radius, aVector
defining its axis, and aPoint
through which its axis passes are needed:>>> from sympy import symbols >>> from sympy.physics.mechanics import (Point, ReferenceFrame, ... WrappingCylinder) >>> N = ReferenceFrame('N') >>> r = symbols('r') >>> pO = Point('pO') >>> ax = N.x
A cylinder with radius
r
, and axis parallel toN.x
passing throughpO
can be instantiated with:>>> WrappingCylinder(r, pO, ax) WrappingCylinder(radius=r, point=pO, axis=N.x)
See also
WrappingSphere
Spherical geometry where the wrapping direction is always geodetic.
- property axis¶
Axis along which the cylinder is aligned.
- geodesic_end_vectors(
- point_1,
- point_2,
The vectors parallel to the geodesic at the two end points.
- Parameters:
point_1 : Point
The point from which the geodesic originates.
point_2 : Point
The point at which the geodesic terminates.
- geodesic_length(point_1, point_2)[source]¶
The shortest distance between two points on a geometry’s surface.
- Parameters:
point_1 : Point
Point from which the geodesic length should be calculated.
point_2 : Point
Point to which the geodesic length should be calculated.
Explanation
The geodesic length, i.e. the shortest arc along the surface of a cylinder, connecting two points. It can be calculated using Pythagoras’ theorem. The first short side is the distance between the two points on the cylinder’s surface parallel to the cylinder’s axis. The second short side is the arc of a circle between the two points of the cylinder’s surface perpendicular to the cylinder’s axis. The resulting hypotenuse is the geodesic length.
Examples
A geodesic length can only be calculated between two points on the cylinder’s surface. Firstly, a
WrappingCylinder
instance must be created along with two points that will lie on its surface:>>> from sympy import symbols, cos, sin >>> from sympy.physics.mechanics import (Point, ReferenceFrame, ... WrappingCylinder, dynamicsymbols) >>> N = ReferenceFrame('N') >>> r = symbols('r') >>> pO = Point('pO') >>> pO.set_vel(N, 0) >>> cylinder = WrappingCylinder(r, pO, N.x) >>> p1 = Point('p1') >>> p2 = Point('p2')
Let’s assume that
p1
is located atN.x + r*N.y
relative topO
and thatp2
is located atr*(cos(q)*N.y + sin(q)*N.z)
relative topO
, whereq(t)
is a generalized coordinate specifying the angle rotated around theN.x
axis according to the right-hand rule whereN.y
is zero. These positions can be set with:>>> q = dynamicsymbols('q') >>> p1.set_pos(pO, N.x + r*N.y) >>> p1.pos_from(pO) N.x + r*N.y >>> p2.set_pos(pO, r*(cos(q)*N.y + sin(q)*N.z).normalize()) >>> p2.pos_from(pO).simplify() r*cos(q(t))*N.y + r*sin(q(t))*N.z
The geodesic length, which is in this case a is the hypotenuse of a right triangle where the other two side lengths are
1
(parallel to the cylinder’s axis) andr*q(t)
(parallel to the cylinder’s cross section), can be calculated using thegeodesic_length
method:>>> cylinder.geodesic_length(p1, p2).simplify() sqrt(r**2*q(t)**2 + 1)
If the
geodesic_length
method is passed an argumentPoint
that doesn’t lie on the sphere’s surface then aValueError
is raised because it’s not possible to calculate a value in this case.
- property point¶
A point through which the cylinder’s axis passes.
- point_on_surface(point)[source]¶
Returns
True
if a point is on the cylinder’s surface.- Parameters:
point : Point
The point for which it’s to be ascertained if it’s on the cylinder’s surface or not. This point’s position relative to the cylinder’s axis must be a simple expression involving the radius of the sphere, otherwise this check will likely not work.
- property radius¶
Radius of the cylinder.
- class sympy.physics.mechanics.wrapping_geometry.WrappingGeometryBase[source]¶
Abstract base class for all geometry classes to inherit from.
Notes
Instances of this class cannot be directly instantiated by users. However, it can be used to created custom geometry types through subclassing.
- abstract geodesic_end_vectors(
- point_1,
- point_2,
The vectors parallel to the geodesic at the two end points.
- Parameters:
point_1 : Point
The point from which the geodesic originates.
point_2 : Point
The point at which the geodesic terminates.
- abstract geodesic_length(
- point_1,
- point_2,
Returns the shortest distance between two points on a geometry’s surface.
- Parameters:
point_1 : Point
The point from which the geodesic length should be calculated.
point_2 : Point
The point to which the geodesic length should be calculated.
- abstract property point¶
The point with which the geometry is associated.
- class sympy.physics.mechanics.wrapping_geometry.WrappingSphere(radius, point)[source]¶
A solid spherical object.
- Parameters:
radius : Symbol
Radius of the sphere. This symbol must represent a value that is positive and constant, i.e. it cannot be a dynamic symbol, nor can it be an expression.
point : Point
A point at which the sphere is centered.
Explanation
A wrapping geometry that allows for circular arcs to be defined between pairs of points. These paths are always geodetic (the shortest possible).
Examples
To create a
WrappingSphere
instance, aSymbol
denoting its radius andPoint
at which its center will be located are needed:>>> from sympy import symbols >>> from sympy.physics.mechanics import Point, WrappingSphere >>> r = symbols('r') >>> pO = Point('pO')
A sphere with radius
r
centered onpO
can be instantiated with:>>> WrappingSphere(r, pO) WrappingSphere(radius=r, point=pO)
See also
WrappingCylinder
Cylindrical geometry where the wrapping direction can be defined.
- geodesic_end_vectors(
- point_1,
- point_2,
The vectors parallel to the geodesic at the two end points.
- Parameters:
point_1 : Point
The point from which the geodesic originates.
point_2 : Point
The point at which the geodesic terminates.
- geodesic_length(point_1, point_2)[source]¶
Returns the shortest distance between two points on the sphere’s surface.
- Parameters:
point_1 : Point
Point from which the geodesic length should be calculated.
point_2 : Point
Point to which the geodesic length should be calculated.
Explanation
The geodesic length, i.e. the shortest arc along the surface of a sphere, connecting two points can be calculated using the formula:
\[l = \arccos\left(\mathbf{v}_1 \cdot \mathbf{v}_2\right)\]where \(\mathbf{v}_1\) and \(\mathbf{v}_2\) are the unit vectors from the sphere’s center to the first and second points on the sphere’s surface respectively. Note that the actual path that the geodesic will take is undefined when the two points are directly opposite one another.
Examples
A geodesic length can only be calculated between two points on the sphere’s surface. Firstly, a
WrappingSphere
instance must be created along with two points that will lie on its surface:>>> from sympy import symbols >>> from sympy.physics.mechanics import (Point, ReferenceFrame, ... WrappingSphere) >>> N = ReferenceFrame('N') >>> r = symbols('r') >>> pO = Point('pO') >>> pO.set_vel(N, 0) >>> sphere = WrappingSphere(r, pO) >>> p1 = Point('p1') >>> p2 = Point('p2')
Let’s assume that
p1
lies at a distance ofr
in theN.x
direction frompO
and thatp2
is located on the sphere’s surface in theN.y + N.z
direction frompO
. These positions can be set with:>>> p1.set_pos(pO, r*N.x) >>> p1.pos_from(pO) r*N.x >>> p2.set_pos(pO, r*(N.y + N.z).normalize()) >>> p2.pos_from(pO) sqrt(2)*r/2*N.y + sqrt(2)*r/2*N.z
The geodesic length, which is in this case is a quarter of the sphere’s circumference, can be calculated using the
geodesic_length
method:>>> sphere.geodesic_length(p1, p2) pi*r/2
If the
geodesic_length
method is passed an argument, thePoint
that doesn’t lie on the sphere’s surface then aValueError
is raised because it’s not possible to calculate a value in this case.
- property point¶
A point on which the sphere is centered.
- point_on_surface(point)[source]¶
Returns
True
if a point is on the sphere’s surface.- Parameters:
point : Point
The point for which it’s to be ascertained if it’s on the sphere’s surface or not. This point’s position relative to the sphere’s center must be a simple expression involving the radius of the sphere, otherwise this check will likely not work.
- property radius¶
Radius of the sphere.