Merge branch 'Doc_Py_Mooc' into 'dev'

Doc py mooc

See merge request robotran/mbsysc!397

MBsysC/mbs_interface/MBsysPy/doc/pages/invdyn.rst

@@ -8,8 +8,8 @@ see `Robotran theoretical framework <http://robotran-doc.git-page.immc.ucl.ac.be
 Code sample
 -----------
 
-For running the inverse dynamics, insert the following code in your main script 
-and adapt it to your need:
+For running the inverse dynamics, in the current configuration, insert the following 
+code in your main script and adapt it to your need:
 
 .. code-block:: python
 
@@ -18,6 +18,34 @@ and adapt it to your need:
     mbs_invdyn.set_options(motion = "oneshot")
     mbs_invdyn.run()
 
+
+You can compute the inverse dynamics for a time-define trajectory by providing the 
+trajectory files as follow:
+
+.. code-block:: python
+
+    # Set all driven joint as independent
+    mbs_data.set_qu(mbs_data.qc[1:].tolist())
+
+    mbs_data.process = 6
+    mbs_invdyn = MBsysPy.MbsInvdyn(mbs_data)
+
+    # Set the motion to be solved as a trajectory
+    mbs_invdyn.set_options(motion = "trajectory")
+
+    # Provide the trajectory files to use
+    mbs_invdyn.set_options(trajectoryqname = "../resultsR/inverse_kinematics_q.res",
+                           trajectoryqdname = "../resultsR/inverse_kinematics_qd.res",
+                           trajectoryqddname = "../resultsR/inverse_kinematics_qdd.res")
+
+    # Provide the time interval and time step to solve the inverse dynamics.
+    mbs_invdyn.set_options(t0 = 0.0, tf = 6.0, dt = 1e-3)
+    # The final time "tf' must be less than the last time of the trajectory files.
+
+    mbs_invdyn.run()
+
+In all cases the analysis requires actuated joint, see next section to set them.
+
 Use
 ---
 

MBsysC/mbs_interface/MBsysPy/doc/pages/solvekin.rst

@@ -8,8 +8,8 @@ framework <http://robotran-doc.git-page.immc.ucl.ac.be/RobotranBasic/Robotran_ba
 Code sample
 -----------
 
-For running the kinematics analysis, insert the following code in your main 
-script and adapt it to your need:
+For running the kinematics analysis while providing trajectory files, insert the 
+following code in your main script and adapt it to your need:
 
 .. code-block:: python
 
@@ -23,6 +23,27 @@ script and adapt it to your need:
                             )
     mbs_solvekin.run()
 
+
+You can compute the inverse kinematics by setting all independant joints as driven 
+joints and defining the trajectory in :py:func:`user_DrivenJoints.user_DrivenJoints()`. The code 
+to be inserted looks like:
+
+.. code-block:: python
+
+    # Set all independant joint as driven joint
+    mbs_data.set_qdriven(mbs_data.qu[1:].tolist())
+    
+    mbs_data.process = 5
+    mbs_solvekin = MBsysPy.MbsSolvekin(mbs_data)
+
+    # Set the motion to be solved as a trajectory
+    mbs_solvekin.set_options(motion = "trajectory")
+
+    # Provide the time interval and time step to solve the inverse kinematics.
+    mbs_solvekin.set_options(t0 = 0.0, tf = 6.0, dt = 1e-3)
+
+    mbs_solvekin.run()
+
 Use
 ---