Node SourceReactionNode#

Defined in mime.nodes.actuation._reaction.SourceReactionNode.

Algorithm MIME-NODE-111.

The reaction of a law’s wrench on a body, on the source it reads: equal and opposite, its torque moved to the origin of the frame the source is mounted on.

Governing equations#

\[\begin{split} \mathbf{W}_{k} = \begin{bmatrix} -\mathbf{F} \\ -\boldsymbol{\tau} - (\mathbf{c} - \mathbf{o}_{k}) \times \mathbf{F} \end{bmatrix} \end{split}\]

Discretisation#

none declared; a node whose order depends on its construction declares it with the discretization_order() hook, which is read from a built node.

Assumptions#

  • The law’s force on the body and its reaction on the source are equal and opposite and act along one line, as between two point dipoles

Limitations#

none declared

Declared regimes (not evidenced here)#

none declared

References#

[@Jackson1998]

Symbols#

Symbol

Kind

Name

Units

Implemented by

\(\mathbf{W}\)

state

link_wrench

N; N m (units declared, not checked)

mime.nodes.actuation._reaction.SourceReactionNode.advance

\(\mathbf{F}\)

input

wrench

N; N m

mime.nodes.actuation._reaction.SourceReactionNode.advance

\(\boldsymbol{\tau}\)

input

wrench

N; N m

mime.nodes.actuation._reaction.SourceReactionNode.advance

\(\mathbf{c}\)

input

pose

m; 1

mime.nodes.actuation._reaction.SourceReactionNode.advance

\(\mathbf{o}\)

input

mount_poses

m; 1

mime.nodes.actuation._reaction.SourceReactionNode.advance

A row marked units declared, not checked has the units its author wrote: the code declares none there, so the node walk cannot compare them with anything.

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