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using RigidBodyDynamics | |
using Test | |
function randmech() | |
rand_tree_mechanism(Float64, | |
QuaternionFloating{Float64}, | |
[Revolute{Float64} for i = 1 : 5]..., | |
[Fixed{Float64} for i = 1 : 5]..., | |
[Prismatic{Float64} for i = 1 : 5]..., | |
[Planar{Float64} for i = 1 : 5]..., |
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<?xml version="1.0" encoding="utf-8"?> | |
<robot name="hyq"> | |
<link name="base_link"> | |
<inertial> | |
<origin xyz="0.0560691331299813 0.021493682967627666 0.0036081141592049586" rpy="0.0 0.0 0.0"/> | |
<mass value="60.978"/> | |
<inertia ixx="1.5727651692862368" ixy="0.02846518720991833" ixz="-0.20354038112779044" iyy="8.502743030521936" iyz="-0.004425323842294127" izz="9.196486342929056"/> | |
</inertial> | |
</link> | |
<link name="lf_hipassembly"> |
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[[AssetRegistry]] | |
deps = ["Distributed", "JSON", "Pidfile", "SHA", "Test"] | |
git-tree-sha1 = "b25e88db7944f98789130d7b503276bc34bc098e" | |
uuid = "bf4720bc-e11a-5d0c-854e-bdca1663c893" | |
version = "0.1.0" | |
[[AxisAlgorithms]] | |
deps = ["Compat", "WoodburyMatrices"] | |
git-tree-sha1 = "99dabbe853e4f641ab21a676131f2cf9fb29937e" | |
uuid = "13072b0f-2c55-5437-9ae7-d433b7a33950" |
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[[AmplNLWriter]] | |
deps = ["Compat", "MathProgBase"] | |
git-tree-sha1 = "b1e6ab8c6ea5d708c87b98cd6e9b1325f295b405" | |
uuid = "7c4d4715-977e-5154-bfe0-e096adeac482" | |
version = "0.4.2" | |
[[Base64]] | |
uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" | |
[[BinDeps]] |
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julia> solve(m) | |
****************************************************************************** | |
This program contains Ipopt, a library for large-scale nonlinear optimization. | |
Ipopt is released as open source code under the Eclipse Public License (EPL). | |
For more information visit http://projects.coin-or.org/Ipopt | |
****************************************************************************** | |
Internal error 2 in QAMD : Schur size expected: 0 Real: 1 | |
** MPI_ABORT called |
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using OrdinaryDiffEq | |
using DiffEqCallbacks | |
lc1 = -0.5 | |
l1 = -1. | |
m1 = 1. | |
I1 = 0.333 | |
lc2 = -1. | |
l2 = -2. | |
m2 = 1. |
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using OrdinaryDiffEq | |
using DiffEqCallbacks | |
lc1 = -0.5 | |
l1 = -1. | |
m1 = 1. | |
I1 = 0.333 | |
lc2 = -1. | |
l2 = -2. | |
m2 = 1. |
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julia> versioninfo() | |
Julia Version 0.6.2 | |
Commit d386e40c17 (2017-12-13 18:08 UTC) | |
Platform Info: | |
OS: Linux (x86_64-pc-linux-gnu) | |
CPU: Intel(R) Core(TM) i7-6950X CPU @ 3.00GHz | |
WORD_SIZE: 64 | |
BLAS: libopenblas (USE64BITINT DYNAMIC_ARCH NO_AFFINITY Haswell) | |
LAPACK: libopenblas64_ | |
LIBM: libopenlibm |
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StackOverflowError: | |
Stacktrace: | |
[1] ⊑(::Any, ::Any) at ./inference.jl:2148 | |
[2] inlineable(::Any, ::Any, ::Expr, ::Array{Any,1}, ::Core.Inference.InferenceState, ::Array{Any,1}) at ./inference.jl:3655 | |
[3] inlining_pass(::Expr, ::Core.Inference.InferenceState, ::Array{Any,1}, ::Int64) at ./inference.jl:4428 | |
[4] inlining_pass(::Expr, ::Core.Inference.InferenceState, ::Array{Any,1}, ::Int64) at ./inference.jl:4327 (repeats 2 times) | |
[5] inlining_pass!(::Core.Inference.InferenceState) at ./inference.jl:4265 | |
[6] optimize(::Core.Inference.InferenceState) at ./inference.jl:2905 | |
[7] typeinf(::Core.Inference.InferenceState) at ./inference.jl:2816 |