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robotran
mbsysc
Commits
74130978
Commit
74130978
authored
Feb 09, 2021
by
Olivier Lantsoght
Browse files
[MBsysPy][cross] np.array[True] is not the same as np.array[1]
parent
e4cf08ee
Changes
1
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MBsysC/mbs_interface/MBsysPy/mbs_algebra.py
View file @
74130978
...
...
@@ -211,12 +211,12 @@ def cross_product(v1, v2, vres=None, index_1=True):
vres
=
np
.
zeros
(
3
+
index_1
)
# For faster reading, terms are aligned.
# For comprenhension:
# index_1
alone is index [1]
# index_1
+ 0 is index [1], index_1 alone does not work as index_1 is True/False
# index_1 + 1 is index [2]
# index_1 + 2 is index [3]
vres
[
index_1
]
=
v1
[
index_1
+
1
]
*
v2
[
index_1
+
2
]
-
v1
[
index_1
+
2
]
*
v2
[
index_1
+
1
]
vres
[
index_1
+
1
]
=
v1
[
index_1
+
2
]
*
v2
[
index_1
]
-
v1
[
index_1
]
*
v2
[
index_1
+
2
]
vres
[
index_1
+
2
]
=
v1
[
index_1
]
*
v2
[
index_1
+
1
]
-
v1
[
index_1
+
1
]
*
v2
[
index_1
]
vres
[
index_1
+
0
]
=
v1
[
index_1
+
1
]
*
v2
[
index_1
+
2
]
-
v1
[
index_1
+
2
]
*
v2
[
index_1
+
1
]
vres
[
index_1
+
1
]
=
v1
[
index_1
+
2
]
*
v2
[
index_1
+
0
]
-
v1
[
index_1
+
0
]
*
v2
[
index_1
+
2
]
vres
[
index_1
+
2
]
=
v1
[
index_1
+
0
]
*
v2
[
index_1
+
1
]
-
v1
[
index_1
+
1
]
*
v2
[
index_1
+
0
]
# And the previous formulaes are the cross product of 2 vector of 3 elements, first element being in index [1].
return
vres
...
...
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