refactor: to simplify a loop of external force to generalized forces

Ipuch · Nov 30, 2024 · 56cb7d5 · 56cb7d5
1 parent 53f273e
commit 56cb7d5
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Showing 4 changed files with 12 additions and 5 deletions.
diff --git a/bionc/bionc_numpy/external_force.py b/bionc/bionc_numpy/external_force.py
@@ -157,12 +157,8 @@ def to_natural_external_forces(self, Q: NaturalCoordinates) -> np.ndarray:
 
         natural_external_forces = np.zeros((12 * Q.nb_qi(), 1))
         for segment_index, segment_external_forces in enumerate(self.external_forces):
-            segment_forces_on_proximal = []
-            for external_force in segment_external_forces:
-                segment_forces_on_proximal += [external_force.transport_on_proximal(Q.vector(segment_index))]
-
             segment_natural_external_forces = np.zeros((12, 1))
-            for external_force in segment_forces_on_proximal:
+            for external_force in segment_external_forces:
                 segment_natural_external_forces += external_force.to_generalized_natural_forces(
                     Q.vector(segment_index)
                 )[:, np.newaxis]

diff --git a/bionc/bionc_numpy/external_force_global.py b/bionc/bionc_numpy/external_force_global.py
@@ -95,3 +95,6 @@ def transport_on_proximal(
 
         return ExternalForceInGlobalOnProximal(external_forces=new_external_forces)
 
+    def to_generalized_natural_forces(self, Qi: SegmentNaturalCoordinates):
+        """This function returns the external force in the generalized natural forces [12x1] format."""
+        return self.transport_on_proximal(Qi).to_generalized_natural_forces(Qi)
diff --git a/bionc/bionc_numpy/external_force_global_local_point.py b/bionc/bionc_numpy/external_force_global_local_point.py
@@ -99,3 +99,7 @@ def transport_on_proximal(
         new_external_forces[0:3] += additional_torque
 
         return ExternalForceInGlobalOnProximal(external_forces=new_external_forces)
+
+    def to_generalized_natural_forces(self, Qi: SegmentNaturalCoordinates) -> np.ndarray:
+        """This function returns the external force in the generalized natural forces [12x1] format."""
+        return self.transport_on_proximal(Qi).to_generalized_natural_forces(Qi)
diff --git a/bionc/bionc_numpy/external_force_in_local.py b/bionc/bionc_numpy/external_force_in_local.py
@@ -125,3 +125,7 @@ def transport_on_proximal(
         new_external_forces[0:3] += additional_torque
 
         return ExternalForceInGlobalOnProximal(external_forces=new_external_forces)
+
+    def to_generalized_natural_forces(self, Qi: SegmentNaturalCoordinates) -> np.ndarray:
+        """This function returns the external force in the generalized natural forces [12x1] format."""
+        return self.transport_on_proximal(Qi).to_generalized_natural_forces(Qi)