WireFMU

class py_crane.boom_fmu.WireFMU(model: Crane, name: str, /, mass_rng: tuple[str, str] | None = None, boom_rng: tuple[tuple[Any, Any] | None | Sequence[Never], ...] = tuple(), **kwargs: Any)

Bases: BoomFMU, Wire

The FMU definitions of a Wire - a special stiff boom, attached with a flexible joint to a parent boom - normally the last boom of a crane.

__init__(model: Crane, name: str, /, mass_rng: tuple[str, str] | None = None, boom_rng: tuple[tuple[Any, Any] | None | Sequence[Never], ...] = tuple(), **kwargs: Any)

Methods

__init__(model, name, /[, mass_rng, boom_rng])
boom_setter(val[, ch])	Set length and angles of boom (if allowed) and ensure consistency with other booms.
calc_statics_dynamics([dt])	After any movement the local c_m and the c_m of connected booms have changed.
damping([q_factor, damping_time])	Change/set the damping properties of a flexible boom.
pendulum(dt)	For a non-stiff connection, if the _c_m is not exactly below origin, the _c_m acts as a damped pendulum.
pendulum_instantaneous()	Move the pendulum instantaneously - origin or length changes are instantaneous and the load stays as much as possible where it was.
pendulum_relax()	Relax the pendulum movement, leading to the CoM strictly downward.
rot([newval])	Access the rotation object from outside the boom.
update_child([change])	Update this boom after the parent boom has changed length, angles, position or rotation.

Attributes

c_m	Updates and returns the local center of mass point relative to self.origin.
c_m_sub	Return the system center of mass as absolute position The _c_m_sub needs to be calculated/updated using calc_statics_dynamics.
end	Calculate the cartesian coordinates of the end of the boom from .origin, .length and .direction.
force	Calculate the force resulting from linear acceleration.
length	Extract the length parameter from .boom.
model	Get the Crane object which this boom is connected to.
name	Get the unique (within the crane) name of the boom.
torque	Calculate the torque from the CoM of this boom with respect to the fixation.