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Delete Trailing Whitespaces

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This commit is contained in:
Thomas Dehaeze 2018-05-03 17:51:30 +02:00
parent e4eb59bec6
commit 5b516fa730
3 changed files with 6 additions and 7 deletions
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9
Design_Nass.m
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@ -23,11 +23,11 @@ TP.leg.ang = 5 ; %deg
TP.density = 8000 ; %kg/m^3 TP.density = 8000 ; %kg/m^3
TP.color = [0.5 0.5 0.5] ; %rgb TP.color = [0.5 0.5 0.5] ; %rgb
%% Leg %% Leg
Leg = struct(); Leg = struct();
Leg.rad.bottom = 8 ; %mm Leg.rad.bottom = 8 ; %mm
Leg.rad.top = 5 ; %mm Leg.rad.top = 5 ; %mm
Leg.sphere.bottom = 10 ; % mm Leg.sphere.bottom = 10 ; % mm
Leg.sphere.top = 8 ; % mm Leg.sphere.top = 8 ; % mm
Leg.density = 8000 ; %kg/m^3 Leg.density = 8000 ; %kg/m^3
Leg.lenght = Nass.h; % mm (approximate) Leg.lenght = Nass.h; % mm (approximate)
@ -35,7 +35,7 @@ Leg.m = Leg.density*2*pi*((Leg.rad.bottom*1e-3)^2)*(Leg.lenght*1e-3); %kg
Leg.color.bottom = [0.5 0.5 0.5] ; %rgb Leg.color.bottom = [0.5 0.5 0.5] ; %rgb
Leg.color.top = [0.5 0.5 0.5] ; %rgb Leg.color.top = [0.5 0.5 0.5] ; %rgb
Leg.k.ax = 5e7; % N/m Leg.k.ax = 5e7; % N/m
Leg.ksi.ax = 10 ; Leg.ksi.ax = 10 ;
Leg = updateDamping(Leg); Leg = updateDamping(Leg);
@ -53,7 +53,7 @@ SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3);
SP.color.bottom = [0.5 0.5 0.5] ; %rgb SP.color.bottom = [0.5 0.5 0.5] ; %rgb
SP.color.top = [0.5 0.5 0.5] ; %rgb SP.color.top = [0.5 0.5 0.5] ; %rgb
SP.k.ax = 0 ; % N*m/deg SP.k.ax = 0 ; % N*m/deg
SP.ksi.ax = 1 ; SP.ksi.ax = 1 ;
SP = updateDamping(SP); SP = updateDamping(SP);
%% %%
@ -63,4 +63,3 @@ function element = updateDamping(element)
element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m); element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
end end
end end

2
Formule_Nass.m
View File

@ -28,7 +28,7 @@ for i = 1:3
% top points % top points
% Top points are 60 degrees offset % Top points are 60 degrees offset
angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6; angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6;
angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6; angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6;
pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height]; pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height];
pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height]; pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height];

2
JacobianMatrix.m
View File

@ -14,7 +14,7 @@ J = computeJacobian(RM, M_pos_base);
for i = 1:6 for i = 1:6
J(i, 4:6) = -RM(i, :)*getCrossProductMatrix(M_pos_base(i, :)); J(i, 4:6) = -RM(i, :)*getCrossProductMatrix(M_pos_base(i, :));
end end
function M = getCrossProductMatrix(v) function M = getCrossProductMatrix(v)
M = zeros(3); M = zeros(3);
M(1, 2) = -v(3); M(1, 2) = -v(3);