Adjust code to new BRiM and SymPy version

tjstienstra · Dec 1, 2023 · 37d746c · 37d746c
1 parent 34dc66c
commit 37d746c
Show file tree

Hide file tree

Showing 5 changed files with 9 additions and 8 deletions.
diff --git a/examples/rolling_disc_optimization/model.py b/examples/rolling_disc_optimization/model.py
@@ -22,7 +22,7 @@
 
 system = disc.to_system()
 normal = disc.ground.get_normal(disc.ground.origin)
-system.apply_gravity(-g * normal)
+system.apply_uniform_gravity(-g * normal)
 r_long = me.cross(normal, disc.disc.rotation_axis).normalize()
 system.add_loads(
     me.Torque(

diff --git a/examples/whipple_bicycle_simulation/model.py b/examples/whipple_bicycle_simulation/model.py
@@ -42,7 +42,7 @@
 
 # Apply additional forces and torques to the system
 g = symbols("g")
-system.apply_gravity(-g * bicycle.ground.get_normal(bicycle.ground.origin))
+system.apply_uniform_gravity(-g * bicycle.ground.get_normal(bicycle.ground.origin))
 steer_torque = dynamicsymbols("steer_torque")
 system.add_actuators(TorqueActuator(
     steer_torque, bicycle.rear_frame.steer_hub.axis,

diff --git a/examples/whipple_upper_rider_simulation/model.py b/examples/whipple_upper_rider_simulation/model.py
@@ -76,7 +76,7 @@
 system = br.to_system()
 
 g = symbols("g")
-system.apply_gravity(-g * bicycle.ground.get_normal(bicycle.ground.origin))
+system.apply_uniform_gravity(-g * bicycle.ground.get_normal(bicycle.ground.origin))
 disturbance = dynamicsymbols("disturbance")
 system.add_loads(Force(
     bicycle.rear_frame.saddle.point, disturbance * bicycle.rear_frame.wheel_hub.axis))

diff --git a/tests/test_simulator.py b/tests/test_simulator.py
@@ -25,8 +25,9 @@ def create_rolling_disc(self) -> None:
         self.rolling_disc.define_loads()
         self.rolling_disc.define_constraints()
         self.system = self.rolling_disc.to_system()
-        self.system.apply_gravity(-symbols("g") * self.rolling_disc.ground.get_normal(
-            self.rolling_disc.ground.origin))
+        self.system.apply_uniform_gravity(
+            -symbols("g") * self.rolling_disc.ground.get_normal(
+                self.rolling_disc.ground.origin))
         self.system.add_loads(
             Torque(self.rolling_disc.disc.frame,
                    dynamicsymbols("T") * self.rolling_disc.disc.rotation_axis))

diff --git a/utilities/simulator.py b/utilities/simulator.py
@@ -1,4 +1,4 @@
-"""Module for simulating sympy.physics.mechanics._system.System objects."""
+"""Module for simulating sympy.physics.mechanics.system.System objects."""
 from __future__ import annotations
 
 from typing import Callable
@@ -11,17 +11,17 @@
 from sympy import Basic, Function, lambdify
 from sympy.physics.mechanics import (
     KanesMethod,
+    System,
     dynamicsymbols,
     find_dynamicsymbols,
     msubs,
 )
-from sympy.physics.mechanics._system import System
 
 __all__ = ["Simulator"]
 
 
 class Simulator:
-    """Simulator for sympy.physics.mechanics._system.System object."""
+    """Simulator for sympy.physics.mechanics.system.System object."""
 
     def __init__(self, system: System) -> None:
         if not isinstance(system, System):