Module Assign NameStore ListLoad Str Import alias If CompareLt AttributeLoad NameLoad attr TupleLoad Num Num body ImportFrom alias orelse ImportFrom alias Import alias identifier ImportFrom alias alias ImportFrom alias ImportFrom alias alias ImportFrom alias ClassDef bases NameLoad body Expr Str FunctionDef arguments args NameParam defaults vararg body Expr Str If Call NameLoad SubscriptLoad NameLoad Index Num NameLoad body Assign AttributeStore NameLoad attr SubscriptLoad NameLoad Index Num orelse Raise Call NameLoad Str Assign NameStore Num If Call NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad body Assign AttributeStore NameLoad attr SubscriptLoad NameLoad Index NameLoad AugAssignAdd NameStore Num orelse Assign AttributeStore NameLoad attr Str TryExcept body Assign AttributeStore NameLoad attr Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr Assign AttributeStore NameLoad attr AttributeLoad SubscriptLoad NameLoad Index NameLoad attr handlers ExceptHandler type NameLoad body TryExcept body Assign NameStore AttributeLoad SubscriptLoad NameLoad Index NameLoad attr Assign AttributeStore NameLoad attr SubscriptLoad NameLoad Index NameLoad AugAssignAdd NameStore Num handlers ExceptHandler type NameLoad body Raise Call NameLoad Str TryExcept body Assign AttributeStore NameLoad attr AttributeLoad SubscriptLoad NameLoad Index NameLoad attr handlers ExceptHandler type NameLoad body Assign AttributeStore NameLoad attr SubscriptLoad NameLoad Index NameLoad decorator_list FunctionDef arguments args NameParam defaults body Return BinOpAdd Str AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Return Str decorator_list FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Expr Str If UnaryOpNot Call NameLoad NameLoad NameLoad body Raise Call NameLoad Str orelse Assign AttributeStore NameLoad attr NameLoad decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Expr Str If UnaryOpNot Call NameLoad NameLoad NameLoad body Raise Call NameLoad Str orelse Assign AttributeStore NameLoad attr NameLoad decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body If UnaryOpNot Call NameLoad NameLoad NameLoad body Raise Call NameLoad Str orelse Assign AttributeStore NameLoad attr NameLoad decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam defaults body Expr Str Return AttributeLoad NameLoad attr decorator_list NameLoad FunctionDef arguments args NameParam NameParam defaults body Expr Str If UnaryOpNot Call NameLoad NameLoad NameLoad body Raise Call NameLoad Str orelse Assign AttributeStore NameLoad attr NameLoad decorator_list AttributeLoad NameLoad attr FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad Call NameLoad Num attr Assign SubscriptStore AttributeLoad NameLoad attr ExtSlice Slice Num Slice Num NameLoad Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad TryExcept body Assign SubscriptStore AttributeLoad NameLoad attr ExtSlice Index Num Slice Num AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr handlers ExceptHandler type NameLoad body Assign SubscriptStore AttributeLoad NameLoad attr Index TupleLoad Num Num Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign SubscriptStore AttributeLoad NameLoad attr Index TupleLoad Num Num Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign SubscriptStore AttributeLoad NameLoad attr Index TupleLoad Num Num Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr Return AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Str Assign NameStore ListComp Call NameLoad comprehension NameStore NameLoad Assign NameStore Call NameLoad Call NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad attr Num Num Expr Call AttributeLoad NameLoad attr NameLoad Assign AttributeStore NameLoad attr ListLoad For NameStore Call NameLoad Num body Assign NameStore SubscriptLoad NameLoad Index NameLoad If Call AttributeLoad NameLoad attr NameLoad body Assign NameStore Call NameLoad NameLoad NameLoad keyword Str orelse Assign NameStore Call NameLoad NameLoad NameLoad keyword Str Expr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Return AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Expr Str Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad If UnaryOpNot Call NameLoad NameLoad NameLoad body Assign NameStore Call NameLoad NameLoad If CompareGt Call NameLoad AttributeLoad NameLoad attr Num body Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index Num Assign NameStore ListLoad For NameStore Call AttributeLoad NameLoad attr NameLoad SubscriptLoad AttributeLoad NameLoad attr Index Num Num body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad For NameStore NameLoad body Expr Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad orelse Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr TupleLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr TupleLoad NameLoad Num For TupleStore NameStore NameStore Call NameLoad AttributeLoad NameLoad attr body If Call NameLoad NameLoad body TryExcept body Assign SubscriptStore NameLoad ExtSlice Slice Index NameLoad Call NameLoad NameLoad handlers ExceptHandler type NameLoad body Assign SubscriptStore NameLoad ExtSlice Slice Index NameLoad Call AttributeLoad NameLoad attr Call NameLoad NameLoad NameLoad orelse Assign SubscriptStore NameLoad ExtSlice Slice Index NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Assign AttributeStore NameLoad attr Call AttributeLoad NameLoad attr Return AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam NameParam defaults Dict body Expr Str Assign NameStore Dict Call NameLoad NameLoad Dict Assign SubscriptStore NameLoad Index Call NameLoad NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr keyword NameLoad Assign SubscriptStore SubscriptLoad NameLoad Index Call NameLoad NameLoad Index Str AttributeLoad NameLoad attr Assign SubscriptStore SubscriptLoad NameLoad Index Call NameLoad NameLoad Index Str Call NameLoad AttributeLoad NameLoad attr Assign SubscriptStore SubscriptLoad NameLoad Index Call NameLoad NameLoad Index Str Call NameLoad NameLoad TryExcept body Assign SubscriptStore SubscriptLoad NameLoad Index Call NameLoad NameLoad Index Str SubscriptLoad AttributeLoad NameLoad attr Index Num handlers ExceptHandler body Raise Call NameLoad BinOpAdd BinOpAdd BinOpAdd BinOpAdd BinOpAdd Str Str Str Str Str Str Return NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign NameStore Dict TryExcept body Assign SubscriptStore NameLoad Index Call NameLoad NameLoad AttributeLoad NameLoad attr handlers ExceptHandler body Raise Call NameLoad BinOpAdd BinOpAdd BinOpAdd BinOpAdd BinOpAdd Str Str Str Str Str Str Return NameLoad decorator_list decorator_list
N/A N/A __all__ N/A VisualizationFrame N/A sys N/A N/A N/A sys version_info N/A 3 0 N/A collections Iterator N/A collections.abc Iterator N/A numpy np sympy Dummy lambdify sympy.matrices.expressions Identity sympy.physics.mechanics Point ReferenceFrame shapes Shape VisualizationFrame N/A object N/A N/A 
    A VisualizationFrame represents an object that you want to visualize.
    It allows you to easily associate a reference frame and a point
    with a shape.

    A VisualizationFrame can be attached to only one Shape Object.
    It can be nested, i.e we can add/remove multiple visualization frames to
    one visualization frame. On adding the parent frame to the
    Scene object, all the children of the parent visualization frame
    are also added, and hence can be visualized and animated.

    A VisualizationFrame needs to have a ReferenceFrame, and a Point
    for it to form transformation matrices for visualization and
    animations.

    The ReferenceFrame and Point are required to be provided during
    initialization. They can be supplied in the form of any one of these:

    1)reference_frame, point argument.
    2)a RigidBody argument
    3)reference_frame, particle argument.

    In addition to these arguments, A shape argument is also required.
     __init__ N/A N/A self N/A args N/A N/A 
        To initialize a visualization frame a ReferenceFrame,
        Point, and Shape are required. These ReferenceFrame
        and Point can be passed provided in three ways:

        1) RigidBody: the RigidBody's frame and mass center are used.
        2) ReferenceFrame and a Particle: The Particle's Point is used.
        3) ReferenceFrame and a Point

        Parameters
        ==========
        name : str, optional
            Name assigned to VisualizationFrame, default is unnamed
        reference_frame : ReferenceFrame
            A reference_frame with respect to which all orientations of the
            shape takes place, during visualizations/animations.
        origin : Point
            A point with respect to which all the translations of the shape
            takes place, during visualizations/animations.
        rigidbody : RigidBody
            A rigidbody whose reference frame and mass center are to be
            assigned as reference_frame and origin of the
            VisualizationFrame.
        particle : Particle
            A particle whose point is assigned as origin of the
            VisualizationFrame.
        shape : Shape
            A shape to be attached to the VisualizationFrame

        Examples
        ========
        >>> from pydy.viz import VisualizationFrame, Sphere
        >>> from sympy.physics.mechanics import                                ReferenceFrame, Point, RigidBody,                                 Particle, inertia
        >>> from sympy import symbols
        >>> I = ReferenceFrame('I')
        >>> O = Point('O')
        >>> shape = Sphere(5)
        >>> #initializing with reference frame, point
        >>> frame1 = VisualizationFrame('frame1', I, O, shape)
        >>> Ixx, Iyy, Izz, mass = symbols('Ixx Iyy Izz mass')
        >>> i = inertia(I, Ixx, Iyy, Izz)
        >>> rbody = RigidBody('rbody', O, I, mass, (inertia, O))
        >>> # Initializing with a rigidbody ..
        >>> frame2 = VisualizationFrame('frame2', rbody, shape)
        >>> Pa = Particle('Pa', O, mass)
        >>> #initializing with Particle, reference_frame ...
        >>> frame3 = VisualizationFrame('frame3', I, Pa, shape)
         N/A N/A isinstance N/A args N/A -1 Shape N/A N/A N/A self _shape N/A args N/A -1 N/A N/A N/A TypeError Please provide a valid shape object as the last  positional argument. N/A i 0 N/A N/A isinstance N/A args N/A i str N/A N/A N/A self name N/A args N/A i N/A i 1 N/A N/A N/A self name unnamed N/A N/A N/A N/A self reference_frame N/A N/A N/A args N/A i get_frame N/A N/A self origin N/A N/A args N/A i masscenter N/A N/A N/A AttributeError N/A N/A N/A N/A dcm N/A N/A args N/A i _dcm_dict N/A N/A self reference_frame N/A args N/A i N/A i 1 N/A N/A N/A AttributeError N/A N/A N/A TypeError  A ReferenceFrame is to be supplied
                                   before a Particle/Point.  N/A N/A N/A N/A self origin N/A N/A args N/A i point N/A N/A N/A AttributeError N/A N/A N/A self origin N/A args N/A i N/A __str__ N/A N/A self N/A N/A N/A N/A VisualizationFrame  N/A self name N/A __repr__ N/A N/A self N/A N/A N/A VisualizationFrame N/A name N/A N/A self N/A N/A N/A 
        Name of the VisualizationFrame.
         N/A N/A self _name N/A property name N/A N/A self new_name N/A N/A N/A 
        Sets the name of the VisualizationFrame.

         N/A N/A N/A isinstance new_name str N/A N/A N/A TypeError Name should be a str object N/A N/A N/A self _name new_name N/A N/A name setter origin N/A N/A self N/A N/A N/A 
        Origin of the VisualizationFrame,
        with respect to which all translational transformations
        take place.
         N/A N/A self _origin N/A property origin N/A N/A self new_origin N/A N/A N/A 
        Sets the origin of the VisualizationFrame.
         N/A N/A N/A isinstance new_origin Point N/A N/A N/A TypeError origin should be a valid Point Object N/A N/A N/A self _origin new_origin N/A N/A origin setter reference_frame N/A N/A self N/A N/A N/A 
        reference_frame of the VisualizationFrame,
        with respect to which all rotational/orientational
        transformations take place.
         N/A N/A self _reference_frame N/A property reference_frame N/A N/A self new_reference_frame N/A N/A N/A N/A N/A isinstance new_reference_frame ReferenceFrame N/A N/A N/A TypeError reference_frame should be a valid
                                ReferenceFrame object. N/A N/A N/A self _reference_frame new_reference_frame N/A N/A reference_frame setter shape N/A N/A self N/A N/A N/A 
        shape in the VisualizationFrame.
        A shape attached to the visualization frame.
        NOTE: Only one shape can be attached to a visualization frame.
         N/A N/A self _shape N/A property shape N/A N/A self new_shape N/A N/A N/A 
        Sets the shape for VisualizationFrame.
         N/A N/A N/A isinstance new_shape Shape N/A N/A N/A TypeError shape should be a valid Shape object. N/A N/A N/A self _shape new_shape N/A N/A shape setter generate_transformation_matrix N/A N/A self reference_frame point N/A N/A N/A Generates a symbolic transformation matrix, with respect to the
        provided reference frame and point.

        Parameters
        ==========
        reference_frame : ReferenceFrame
            A reference_frame with respect to which transformation matrix is
            generated.
        point : Point
            A point with respect to which transformation matrix is
            generated.

        Returns
        =======
        A 4 x 4 SymPy matrix, containing symbolic expressions describing the
        transformation as a function of time.

         N/A rotation_matrix N/A N/A N/A self reference_frame dcm reference_frame N/A N/A self _transform N/A N/A N/A Identity 4 as_mutable N/A N/A N/A self _transform N/A N/A 3 N/A 3 rotation_matrix N/A point_vector N/A N/A N/A self origin pos_from point N/A N/A N/A N/A N/A self _transform N/A N/A 3 N/A 3 N/A N/A N/A point_vector to_matrix reference_frame T N/A N/A N/A AttributeError N/A N/A N/A N/A self _transform N/A N/A 3 0 N/A N/A point_vector dot N/A reference_frame x N/A N/A N/A self _transform N/A N/A 3 1 N/A N/A point_vector dot N/A reference_frame y N/A N/A N/A self _transform N/A N/A 3 2 N/A N/A point_vector dot N/A reference_frame z N/A N/A self _transform N/A generate_numeric_transform_function N/A N/A self dynamic_variables constant_variables N/A N/A N/A Returns a function which can compute the numerical values of the
        transformation matrix given the numerical dynamic variables (i.e.
        functions of time or states) and the numerical system constants.


        Parameters
        ==========
        dynamic_variables : list of sympy.Functions(time)
            All of the dynamic symbols used in defining the orientation and
            position of this visualization frame.
        constant_variables : list of sympy.Symbols
            All of the constants used in defining the orientation and
            position of this visualization frame.

        Returns
        =======
        numeric_transform : list of functions
            A list of functions which return the numerical transformation
            for each element in the transformation matrix.

         N/A dummy_symbols N/A N/A Dummy N/A i dynamic_variables N/A dummy_dict N/A dict N/A zip dynamic_variables dummy_symbols N/A transform N/A N/A N/A N/A N/A self _transform subs dummy_dict reshape 16 1 N/A N/A N/A dummy_symbols extend constant_variables N/A N/A self _numeric_transform N/A N/A i N/A range 16 N/A N/A t N/A transform N/A i N/A N/A N/A t has Dummy N/A N/A f N/A lambdify dummy_symbols t modules numpy N/A N/A f N/A lambdify constant_variables t modules numpy N/A N/A N/A N/A self _numeric_transform append f N/A N/A self _numeric_transform N/A evaluate_transformation_matrix N/A N/A self dynamic_values constant_values N/A N/A N/A Returns the numerical transformation matrices for each time step.

        Parameters
        ----------
        dynamic_values : array_like, shape(m,) or shape(n, m)
            The m state values for each n time step.
        constant_values : array_like, shape(p,)
            The p constant parameter values of the system.

        Returns
        -------
        transform_matrix : numpy.array, shape(n, 16)
            A 4 x 4 transformation matrix for each time step.

         N/A states N/A N/A np squeeze N/A N/A np array dynamic_values N/A N/A N/A isinstance constant_values Iterator N/A N/A constant_values N/A list constant_values N/A N/A N/A len N/A states shape 1 N/A N/A n N/A N/A states shape N/A 0 N/A args N/A N/A a N/A N/A np split states N/A N/A states shape N/A 1 1 N/A N/A N/A N/A args append N/A N/A np squeeze a N/A a constant_values N/A N/A N/A N/A args append N/A N/A np repeat a n N/A N/A n 1 N/A args N/A N/A np hstack N/A states constant_values N/A new N/A N/A np zeros N/A n 16 N/A N/A i t N/A enumerate N/A self _numeric_transform N/A N/A N/A callable t N/A N/A N/A N/A N/A new N/A N/A N/A i N/A t args N/A N/A N/A TypeError N/A N/A N/A new N/A N/A N/A i N/A N/A np repeat N/A t constant_values n N/A N/A N/A new N/A N/A N/A i N/A N/A np repeat t n N/A N/A self _visualization_matrix N/A N/A new tolist N/A N/A self _visualization_matrix N/A generate_scene_dict N/A N/A self constant_map N/A N/A N/A N/A 
        This method generates information for a static
        visualization in the initial conditions, in the form
        of dictionary. This contains shape information
        from `Shape.generate_dict()` followed by an
        init_orientation Key.

        Before calling this method, all the transformation matrix
        generation methods should be called, or it will give an error.

        Parameters
        ==========
        constant_map : dictionary
            Constant map is required when Shape contains sympy expressions.This
            dictionary maps sympy expressions/symbols to numerical values(floats)

        Returns
        =======
        A dictionary built with a call to `Shape.generate_dict`.
        Additional keys included in the dict are following:

        1. init_orientation: Specifies the initial orientation
           of the `VisualizationFrame`.
        2. reference_frame_name: Name(str) of the reference_frame
           attached to this VisualizationFrame.
        3. simulation_id: an arbitrary integer to map scene description
           with the simulation data.


         N/A scene_dict N/A N/A id self N/A N/A N/A scene_dict N/A N/A id self N/A N/A N/A self shape generate_dict constant_map constant_map N/A N/A N/A scene_dict N/A N/A id self N/A name N/A self name N/A N/A N/A scene_dict N/A N/A id self N/A reference_frame_name N/A str N/A self reference_frame N/A N/A N/A scene_dict N/A N/A id self N/A simulation_id N/A id self N/A N/A N/A N/A N/A scene_dict N/A N/A id self N/A init_orientation N/A N/A self _visualization_matrix N/A 0 N/A N/A N/A N/A N/A RuntimeError N/A N/A N/A N/A N/A Cannot generate visualization data  because numerical transformation  has not been performed,  Please call the numerical  transformation methods,  before generating visualization dict N/A scene_dict N/A generate_simulation_dict N/A N/A self N/A N/A N/A 
        Generates the simulation information for this visualization
        frame. It maps the simulation data information to the
        scene information via a unique id.

        Before calling this method, all the transformation matrix
        generation methods should be called, or it will give an error.

        Returns
        =======

        A dictionary containing list of 4x4 matrices mapped to
        the unique id as the key.

         N/A simulation_dict N/A N/A N/A N/A N/A simulation_dict N/A N/A id self N/A self _visualization_matrix N/A N/A N/A N/A N/A RuntimeError N/A N/A N/A N/A N/A Cannot generate visualization data  because numerical transformation  has not been performed,  Please call the numerical  transformation methods,  before generating visualization dict N/A simulation_dict N/A N/A