Gear ratio not taken into account for PTO kinematics

[jtgrasb]

Describe the bug The gear ratio not taken into account when calculating the PTO kinematics such as the position and velocity. For tutorial 1, I plotted the WEC position and PTO position side-by-side and they are the same. If we are saying a gear ratio of 12 is equivalent to a gearbox where 1 m = 12 rad of rotation, the PTO position should be 12 times greater than the WEC position.

This bug may impact the LUPA tutorial in particular because there is a max pot stroke constraint. In brief checks, it doesn't look like this is being violated when considering an accurate PTO position but may have affected the results for some of the sprockets tested. I'm not sure the best way to resolve this yet. I think either the gear ratio should be included as part of the kinematics matrix or the impedance matrix should somehow factor into the kinematics calculations.

To Reproduce Steps to reproduce the behavior:

1. Plot WEC position vs. PTO position in tutorials.

Expected behavior PTO position should be equal to WEC position * gear ratio.

Observed behavior N/A

System:

• OS: Windows 11
• Python version: 3.10.9
• WecOptTool version: 2.6.0

Additional information N/A

[ryancoe]

@jtgrasb will think through and look for place(s) to add clarifying documentation