Mambo Toolbox Functions

Reference: Appendix B in Multibody Mechanics and Visualization by Harry Dankowicz, published by Springer Verlag UK, 2004.

Calling Sequence

DefinePoints(A,B,pv)

DefinePoints([A1,B1,pv1], ..., [An,Bn,pvn])

Parameters

A,A1, ..., An: names of declared points

B,B1, ..., Bn: names of declared points

pv,pv1, ..., pvn: vector specifications

Description

The function DefinePoints defines a direct relation between two declared points by specifying the position vector from the first point to the second point. A pair of indirectly related points may not be defined.

The function DefinePoints results in permanent changes to the global variables GlobalPointDeclarations and GlobalPointDefinitions.

The syntax of a vector specification corresponds to that of the argument to the MakeTranslations procedure.

Examples

>Restart():
>DeclarePoints(Ap,Bp,Cp):
>DeclareTriads(a,b,c):
>DefinePoints([Ap,Bp,a,1],[Bp,Cp,[b,2],[c,3]]):
>print(GlobalPointDeclarations);

$table ([Cp = \{Bp\}, Ap = \{Bp\}, Bp = \{Ap, Cp\}])$

>print(GlobalPointDefinitions);

$table ([(Cp, Bp) = table ([1 = table ([Coordinates = [\begin{array}{r} 0 \\ - 1 \\ 0 \end{array}], Triad = b]), 2 = table ([Coordinates = [\begin{array}{r} 0 \\ 0 \\ - 1 \end{array}], Triad = c]), Size = 2, Type = Vector]), (Bp, Ap) = table ([1 = table ([Coordinates = [\begin{array}{r} - 1 \\ 0 \\ 0 \end{array}], Triad = a]), Size = 1, Type = Vector]), (Bp, Cp) = table ([1 = table ([Coordinates = [\begin{array}{r} 0 \\ 1 \\ 0 \end{array}], Triad = b]), 2 = table ([Coordinates = [\begin{array}{r} 0 \\ 0 \\ 1 \end{array}], Triad = c]), Size = 2, Type = Vector]), (Ap, Bp) = table ([1 = table ([Coordinates = [\begin{array}{r} 1 \\ 0 \\ 0 \end{array}], Triad = a]), Size = 1, Type = Vector])])$

Toolbox functions

&**, &++, &--, &xx, &oo &>, &>=, &<, &<=, &==, &!= AngularMomentum AngularVelocity CoeffExtract DeclareObservers DeclarePoints DeclareStates DeclareTriads DefineNeighbors DefineObjects DefineObservers DefinePoints DefineTriads DiffTime Express FindCoordinates FindOrientation FindPosition FindRotation FindTranslation ForceDescription GeometryOutput LinearMomentum LinearVelocity MakeDescription MakeRotations MakeTranslations MomentumDescription MotionOutput NullVector Restart Simplify Undo VectorLength VelocityDescription


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