Vocabulary

Every port that dynamics publish or accept and that entries read or deliver into has a name here. The build checks every read and every target against this list. A reserved name fixes its kind, units, frame and sign now and leaves its shape open until it is built; using it is refused.

Namespace mime

Vocabulary version 0.3.0.dev1.

Name	Kind	Units	Frame	Shape	Sign	Typical magnitude	Description	Published by
apparatus.frame_angular_velocities	state	rad/s	world	-1 x 3	none	1	the angular velocity in the world of every frame an apparatus chain’s segment names, one row per frame in the order the segment lists them, as frame_poses lists their poses: what a segment mounted on one of them reads to know how its mount turns (a spinning rotor’s bearing and gyroscopic torque). Every MIME segment publishes it, on every rung	arm, motor
apparatus.frame_poses	state	m; 1	world	-1 x 7	none	0.1	the world pose of every frame an apparatus chain’s segment names, one row per frame in the order the segment lists them: [position of the frame’s origin; orientation as a unit quaternion (w, x, y, z), frame to world]. Every rung of a segment publishes it, so mounts read it alike	arm, labx.gantry, motor
apparatus.joint_positions	state	1	none	-1	none	1	the angles in radians of a chain segment’s moving joints, in the order its description lists them. The radian is dimensionless in MIME; a prismatic joint’s position is a length in metres that this unit cannot tell from an angle, so a controller declared in this unit takes revolute joints only	arm
apparatus.joint_velocities	state	rad/s	none	-1	none	1	the rates of a chain segment’s moving joints, in the order its description lists them: radians per second, or metres per second on a prismatic joint, which this unit cannot tell from an angular rate; a dynamic segment publishes them, a kinematic one does not	none registered
apparatus.link_inertia	operator	kg m^2	world	-1 x 2 x 3 x 3	added to the inertia of the body each frame is fixed to, about its centre of mass, at the step’s start and at its end	1e-05	the inertia each of a chain segment’s frames carries beyond its own inertial, one row per frame in the order the segment lists them, at the step’s start and at its end, summed over every delivery: what a rotor unequal across its spin axis hands the frame it is mounted on, its half difference across the axis, which turns with it. A dynamic segment takes it, a kinematic one does not	not a published kind
apparatus.link_momentum	operator	N m s	world	-1 x 3	the gyroscopic torque on the body each frame is fixed to is h x omega, omega the frame’s angular velocity	0.001	the angular momentum about its spin axis of each rotor a chain segment’s frame carries, one row per frame in the order the segment lists them, summed over every delivery: what a spinner hands the frame it is mounted on, whose gyroscopic torque the segment applies at its own velocity. A dynamic segment takes it, a kinematic one does not	not a published kind
apparatus.link_wrench	load	N; N m	world	-1 x 6	on the body each frame is fixed to, about the frame’s origin	0.001	the loads on a chain segment’s frames, one row per frame in the order the segment lists them: [force; torque about the frame’s origin], summed over every delivery. The load target a dynamic segment offers, which a kinematic one does not	not a published kind
body.applied_wrench	load	N; N m	world	6	on the body, about its centre of mass	1e-06	[force; torque], summed over every law that loads the body	not a published kind
body.background_load	load	N; N m	world	6	on the body, held still in the ambient flow, about its centre of mass	1e-06	[force; torque] from the ambient flow, paired with a resistance	not a published kind
body.confinement	inequality constraint	m	world	scalar	none	none	a fixed surface the body stays on the free side of, with a margin and a velocity rule, applied by the body’s dynamics after its step; at most one per body	not a published kind
body.pose	state	m; 1	world	7	none	0.001	[position of the centre of mass; orientation as a unit quaternion (w, x, y, z), body to world]	rigid_inertial, rigid_inertial
body.resistance	operator	N s/m; N s; N m s	world	6 x 6	the load on the body is -R [velocity; angular velocity] + the background load; v.Rv >= 0	1e-06	the resistance to the body’s motion, integrated implicitly by an inertial body	not a published kind
body.twist	state	m/s; rad/s	world	6	none	0.01	[velocity of the centre of mass; angular velocity]	rigid_inertial, rigid_inertial
field.magnetic.flux_density	field	T	world	3	none	0.001	the magnetic flux density B at a point	point_dipole, uniform_rotating
field.magnetic.gradient	field	T/m	world	3 x 3	none	0.1	G_ij = dB_i/dx_j at a point, so that a moment’s force is G^T m	point_dipole, uniform_rotating

Namespace toy

Vocabulary version 0.1.0.

Name	Kind	Units	Frame	Shape	Sign	Typical magnitude	Description	Published by
toy.body.hold_z	equality constraint	m/s	world	scalar	the body’s prescribed velocity along z	1	a prescribed velocity along z, one degree of freedom	not a published kind
toy.body.load	load	N	world	3	on the body	1	the summed load on a toy body	not a published kind
toy.body.position	state	m	world	3	none	1	a toy body’s position	toy.anchored_body, toy.body
toy.body.torque	load, reserved	N m	world	open (reserved)	on the body	none	reserved, to exercise the refusal of a reserved name	not a published kind
toy.body.velocity	state	m/s	world	3	none	1	a toy body’s velocity	toy.body
toy.field.push	field	1	world	3	none	1	a toy field, evaluated at points	toy.field
toy.medium.registration	registration		none	scalar	none	none	a body registered with a toy medium’s update	not a published kind
toy.medium.value	state	1	none	3	none	1	a toy medium’s relaxing value	toy.relaxation