Commit f1bf4fb3 authored by Ibrahim's avatar Ibrahim
Browse files

helpers.py: changed matrix to arrays in helpers

parent 0e9bcbe5

helpers.py

+5 −5
Original line number Diff line number Diff line
@@ -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