Ali-7800
commented
12 months ago Hi @AkashVardhan7 ,
In elastica we have an __init__.py file which is used for importing different functions/classes, if you take a look at it you can see that we are importing all the classes in external_forces.py like this:
from elastica.external_forces import ( NoForces, EndpointForces, GravityForces, UniformForces, UniformTorques, MuscleTorques, EndpointForcesSinusoidal, )
if you want use the class you just created the way you are doing it now, you have to add it there too. Alternatively, you can put your class in the simulation file with all the necessary imports and use it without the ea.. One last thing, in order for this class to work it must also have the method apply_torques so it can be called in the backend, right now you have it called apply__lifting_torques which would not work.
Let me know if you need more help!
AkashVardhan7
armantekinalp
xzhan139
Hello again., I have been trying to replicate some of the side-winding results from your paper, and added a separate class to compute the torques from the lifting wave in the external_forces.py file like the MuscleTorques class, and then in the main simulation file, I add the forcing from the lifting wave using the liftingTorques class.. like it's done for the lateral wave with the MuscleTorques class..however it seems I will have to re-build/compile elastica again as I get the following error message AttributeError: module 'elastica' has no attribute 'LiftingTorques'. I am pasting the codes for these files...kindly take a peek and let me know if I am on the right track before I re-compile elastica to reflect the modification with the LiftingTorques.
here's the modified external_forces.py file with the modified Lifting wave doc = """ Numba implementation module for boundary condition implementations that apply external forces to the system."""
import numpy as np from elastica._linalg import _batch_matvec from elastica.typing import SystemType, RodType from elastica.utils import _bspline
from numba import njit from elastica._linalg import _batch_product_i_k_to_ik
class NoForces: """ This is the base class for external forcing boundary conditions applied to rod-like objects.
class GravityForces(NoForces): """ This class applies a constant gravitational force to the entire rod.
class EndpointForces(NoForces): """ This class applies constant forces on the endpoint nodes.
class UniformTorques(NoForces): """ This class applies a uniform torque to the entire rod.
class UniformForces(NoForces): """ This class applies a uniform force to the entire rod.
class MuscleTorques(NoForces): """ This class applies muscle torques along the body. The applied muscle torques are treated as applied external forces. This class can apply muscle torques as a traveling wave with a beta spline or only as a traveling wave. For implementation details refer to Gazzola et. al. RSoS. (2018).
class LiftingTorques(NoForces): """ This class applies Lifting torques along the body. The applied muscle torques are treated as applied external forces. This class can apply muscle torques as a traveling wave with a beta spline or only as a traveling wave. For implementation details refer to Gazzola et. al. RSoS. (2018).
@njit(cache=True) def inplace_addition(external_force_or_torque, force_or_torque): """ This function does inplace addition. First argument
external_force_or_torqueis the system.external_forces or system.external_torques. Second argument force or torque vector to be added.@njit(cache=True) def inplace_substraction(external_force_or_torque, force_or_torque): """ This function does inplace substraction. First argument
external_force_or_torqueis the system.external_forces or system.external_torques. Second argument force or torque vector to be substracted. Parametersclass EndpointForcesSinusoidal(NoForces): """ This class applies sinusoidally varying forces to the ends of a rod. Forces are applied in a plane, which is defined by the tangent_direction and normal_direction.
here's how I call it in my simulation file
import os import numpy as np import elastica as ea
Apply Muscle force related parameters
Helper Function to check if a point is inside a patch
def is_point_inside_patch(point, patch_vertices): """ Check if a 3D point is inside a patch defined by four vertices.
""" from snake_diffraction_postprocessing_3D import ( plot_snake_velocity, plot_video_3d, compute_projected_velocity, plot_curvature, ) """
class SnakeDiffractionSimulator( ea.BaseSystemCollection, ea.Constraints, ea.Forcing, ea.Damping, ea.CallBacks ): pass
def run_snake( b_coeff, PLOT_FIGURE=False, SAVE_FIGURE=False, SAVE_VIDEO=False, SAVE_RESULTS=False ):
Initialize the simulation class
if name == "main":