diff --git a/exploration_modeling_toolkit.ipynb b/exploration_modeling_toolkit.ipynb
index 7fec51502cbc3200b3d0ffc6bbba1fe85e197f3d..bad765bdc2a684c65b787a7cff6365356a8f41ea 100644
--- a/exploration_modeling_toolkit.ipynb
+++ b/exploration_modeling_toolkit.ipynb
@@ -1,6 +1,196 @@
{
- "cells": [],
- "metadata": {},
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "\u001b[32m\u001b[1m Updating\u001b[22m\u001b[39m registry at `~/.julia/registries/General`\n",
+ "\u001b[32m\u001b[1m Resolving\u001b[22m\u001b[39m package versions...\n",
+ "\u001b[32m\u001b[1mNo Changes\u001b[22m\u001b[39m to `~/.julia/environments/v1.5/Project.toml`\n",
+ "\u001b[32m\u001b[1mNo Changes\u001b[22m\u001b[39m to `~/.julia/environments/v1.5/Manifest.toml`\n",
+ "\u001b[32m\u001b[1m Resolving\u001b[22m\u001b[39m package versions...\n",
+ "\u001b[32m\u001b[1mNo Changes\u001b[22m\u001b[39m to `~/.julia/environments/v1.5/Project.toml`\n",
+ "\u001b[32m\u001b[1mNo Changes\u001b[22m\u001b[39m to `~/.julia/environments/v1.5/Manifest.toml`\n"
+ ]
+ }
+ ],
+ "source": [
+ "using Pkg\n",
+ "Pkg.add(\"ModelingToolkit\")\n",
+ "Pkg.add(\"Symbolics\")"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Building a 1D-mass with two wheels"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Here we first run the basic example from ModelingToolkit, see [here](https://mtk.sciml.ai/stable/tutorials/spring_mass/)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "metadata": {},
+ "outputs": [
+ {
+ "ename": "LoadError",
+ "evalue": "\u001b[91mUndefVarError: scalarize not defined\u001b[39m",
+ "output_type": "error",
+ "traceback": [
+ "\u001b[91mUndefVarError: scalarize not defined\u001b[39m",
+ "",
+ "Stacktrace:",
+ " [1] include_string(::Function, ::Module, ::String, ::String) at ./loading.jl:1091"
+ ]
+ },
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "WARNING: both LinearAlgebra and Plots export \"rotate!\"; uses of it in module Main must be qualified\n"
+ ]
+ }
+ ],
+ "source": [
+ "using ModelingToolkit, Plots, DifferentialEquations, LinearAlgebra\n",
+ "using Symbolics:scalarize\n",
+ "\n",
+ "@variables t\n",
+ "D = Differential(t)\n",
+ "\n",
+ "function Mass(; name, m = 1.0, xy = [0., 0.], u = [0., 0.])\n",
+ " ps = @parameters m=m\n",
+ " sts = @variables pos[1:2](t)=xy v[1:2](t)=u\n",
+ " eqs = scalarize(D.(pos) .~ v)\n",
+ " ODESystem(eqs, t, [pos..., v...], ps; name)\n",
+ "end\n",
+ "\n",
+ "function Spring(; name, k = 1e4, l = 1.)\n",
+ " ps = @parameters k=k l=l\n",
+ " @variables x(t), dir[1:2](t)\n",
+ " ODESystem(Equation[], t, [x, dir...], ps; name)\n",
+ "end\n",
+ "\n",
+ "function connect_spring(spring, a, b)\n",
+ " [\n",
+ " spring.x ~ norm(scalarize(a .- b))\n",
+ " scalarize(spring.dir .~ scalarize(a .- b))\n",
+ " ]\n",
+ "end\n",
+ "\n",
+ "spring_force(spring) = -spring.k .* scalarize(spring.dir) .* (spring.x - spring.l) ./ spring.x\n",
+ "\n",
+ "m = 1.0\n",
+ "xy = [1., -1.]\n",
+ "k = 1e4\n",
+ "l = 1.\n",
+ "center = [0., 0.]\n",
+ "g = [0., -9.81]\n",
+ "@named mass = Mass(m=m, xy=xy)\n",
+ "@named spring = Spring(k=k, l=l)\n",
+ "\n",
+ "eqs = [\n",
+ " connect_spring(spring, mass.pos, center)\n",
+ " scalarize(D.(mass.v) .~ spring_force(spring) / mass.m .+ g)\n",
+ "]\n",
+ "\n",
+ "@named _model = ODESystem(eqs, t)\n",
+ "@named model = compose(_model, mass, spring)\n",
+ "sys = structural_simplify(model)\n",
+ "\n",
+ "prob = ODEProblem(sys, [], (0., 3.))\n",
+ "sol = solve(prob, Rosenbrock23())\n",
+ "plot(sol)"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "Let's do something similar but with mass and wheels"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "scala"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "metadata": {},
+ "outputs": [
+ {
+ "ename": "LoadError",
+ "evalue": "\u001b[91mUndefVarError: scalarize not defined\u001b[39m",
+ "output_type": "error",
+ "traceback": [
+ "\u001b[91mUndefVarError: scalarize not defined\u001b[39m",
+ "",
+ "Stacktrace:",
+ " [1] include_string(::Function, ::Module, ::String, ::String) at ./loading.jl:1091"
+ ]
+ }
+ ],
+ "source": [
+ "using ModelingToolkit, Plots, DifferentialEquations, LinearAlgebra\n",
+ "using Symbolics:scalarize\n",
+ "@variables t\n",
+ "D = Differential(t)\n",
+ "function Wheel(; name, r=1., m=1.)\n",
+ " params = @parameters m=m r=r\n",
+ " states = @variables pos[1:2](t)=xz v[1:2]=u\n",
+ " \n",
+ "end"
+ ]
+ }
+ ],
+ "metadata": {
+ "@webio": {
+ "lastCommId": null,
+ "lastKernelId": null
+ },
+ "kernelspec": {
+ "display_name": "Julia 1.5.2",
+ "language": "julia",
+ "name": "julia-1.5"
+ },
+ "language_info": {
+ "file_extension": ".jl",
+ "mimetype": "application/julia",
+ "name": "julia",
+ "version": "1.5.2"
+ },
+ "toc": {
+ "base_numbering": 1,
+ "nav_menu": {},
+ "number_sections": true,
+ "sideBar": true,
+ "skip_h1_title": false,
+ "title_cell": "Table of Contents",
+ "title_sidebar": "Contents",
+ "toc_cell": false,
+ "toc_position": {},
+ "toc_section_display": true,
+ "toc_window_display": false
+ }
+ },
"nbformat": 4,
"nbformat_minor": 4
}
diff --git a/physical_specifications.ipynb b/physical_specifications.ipynb
index 7fec51502cbc3200b3d0ffc6bbba1fe85e197f3d..62281ad966c71100e2f888cb58a52a7251db590a 100644
--- a/physical_specifications.ipynb
+++ b/physical_specifications.ipynb
@@ -1,6 +1,50 @@
{
- "cells": [],
- "metadata": {},
+ "cells": [
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## 1D car with two wheels"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "1. car_length = 3 u\"m\"\n",
+ "2. car_mass = 500 u\"kg\"\n",
+ "3. wheel_mass = 5 u\"kg\"\n",
+ "4. wheel_radius= 0.25 u\"m\"\n",
+ "5. wheel_inertia= "
+ ]
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "Julia 1.5.2",
+ "language": "julia",
+ "name": "julia-1.5"
+ },
+ "language_info": {
+ "file_extension": ".jl",
+ "mimetype": "application/julia",
+ "name": "julia",
+ "version": "1.5.2"
+ },
+ "toc": {
+ "base_numbering": 1,
+ "nav_menu": {},
+ "number_sections": true,
+ "sideBar": true,
+ "skip_h1_title": false,
+ "title_cell": "Table of Contents",
+ "title_sidebar": "Contents",
+ "toc_cell": false,
+ "toc_position": {},
+ "toc_section_display": true,
+ "toc_window_display": false
+ }
+ },
"nbformat": 4,
"nbformat_minor": 4
}