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Remove uses of numpy.matrix #139

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merged 9 commits into from
Jun 7, 2024
Merged

Remove uses of numpy.matrix #139

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b267f55
matrix/mat -> array, asmatrix -> asarray in primary python files.
moorepants Jun 6, 2024
b3dac86
matrix/mat -> array, asmatrix -> asarray in test files.
moorepants Jun 6, 2024
e5f9532
Use matrix multiplication.
moorepants Jun 6, 2024
a243f2f
Correct matrix multiplications.
moorepants Jun 6, 2024
c80ab5e
Fixed one more matrix multiplication.
moorepants Jun 6, 2024
d2b29bb
Fixed more matrix multiplications.
moorepants Jun 6, 2024
e285fd6
np.matrix -> np.array in documentation.
moorepants Jun 6, 2024
3fee0b7
Fixed more matrix multiplication in the mayavi code.
moorepants Jun 7, 2024
0c0851d
Updated bicycle example to run with latest version of yeadon.
moorepants Jun 7, 2024
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12 changes: 6 additions & 6 deletions doc/usage.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -167,7 +167,7 @@ There are three inertia properties for the human overall::
(center of the Ls0 stadium)....

>>> chad.inertia?
...Docstring: Inertia matrix/dyadic of the human, a np.matrix, in units
...Docstring: Inertia matrix/dyadic of the human, a np.array, in units
of kg-m^2, about the center of mass of the human, expressed in the
global frame....

Expand All @@ -188,12 +188,12 @@ and three related strictly to kinematics::
pelvis....

>>> chad.J1.rel_inertia?
...Docstring: Inertia matrix/dyadic of the segment, a np.matrix, in
...Docstring: Inertia matrix/dyadic of the segment, a np.array, in
units of kg-m^2, about the center of mass of the segment, expressed in
the frame of the segment....

>>> chad.J1.inertia?
...Docstring: Inertia matrix/dyadic of the segment, a np.matrix, in
...Docstring: Inertia matrix/dyadic of the segment, a np.array, in
units of kg-m^2, about the center of mass of the human, expressed in
the global frame....

Expand All @@ -209,7 +209,7 @@ and three related strictly to kinematics::

>>> chad.J1.rot_mat?
...Docstring: Rotation matrix specifying the orientation of this
segment relative to the orientation of the global frame, a np.matrix,
segment relative to the orientation of the global frame, a np.array,
unitless. Multiplying a vector expressed in this segment's frame with
this rotation matrix on the left gives that same vector, but expressed
in the global frame....
Expand All @@ -227,7 +227,7 @@ the segment containing them)::
(Ls0)....

>>> chad.J1.solids[0].inertia?
...Docstring: Inertia matrix/dyadic of the solid, a np.matrix, in units
...Docstring: Inertia matrix/dyadic of the solid, a np.array, in units
of kg-m^2, about the center of mass of the human, expressed in the
global frame....

Expand All @@ -236,7 +236,7 @@ the segment containing them)::
expressed in the frame of the solid, from the origin of the solid....

>>> chad.J1.solids[0].rel_inertia?
...Docstring: Inertia matrix/dyadic of the solid, a np.matrix, in units
...Docstring: Inertia matrix/dyadic of the solid, a np.array, in units
of kg-m^2, about the center of mass of the solid, expressed in the
frame of the solid....

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