Commit f1bf4fb3 authored by Ibrahim's avatar Ibrahim
Browse files

helpers.py: changed matrix to arrays in helpers

parent 0e9bcbe5
......@@ -19,7 +19,7 @@ def moment_of_inertia_tensor_from_cooords(
Ixy = Iyx = -np.sum(x * y * masses)
Iyz = Izy = -np.sum(y * z * masses)
Ixz = Izx = -np.sum(x * z * masses)
return np.asmatrix([
return np.asarray([
[Ixx, Ixy, Ixz],
[Iyx, Iyy, Iyz],
[Izx, Izy, Izz]
......@@ -41,13 +41,13 @@ def vehicle_params_factory(
I_prop = moment_of_inertia_tensor_from_cooords(masses, coords)
if body_shape == 'point':
I_body = np.asmatrix(np.zeros((3,3)))
I_body = np.asarray(np.zeros((3,3)))
elif body_shape == 'sphere_solid':
I_body = np.asmatrix(np.eye(3) * 0.4 * m_body * body_size**2)
I_body = np.asarray(np.eye(3) * 0.4 * m_body * body_size**2)
elif body_shape == 'sphere_shell':
I_body = np.asmatrix(np.eye(3) * 2 * m_body * body_size**2 / 3)
I_body = np.asarray(np.eye(3) * 2 * m_body * body_size**2 / 3)
elif body_shape == 'cube':
I_body = np.asmatrix(np.eye(3) * 2 * m_body * body_size**2 / 12)
I_body = np.asarray(np.eye(3) * 2 * m_body * body_size**2 / 12)
I = I_body + I_prop
......
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