kane.py 文件源码

def mass_matrix_full(self):
        # Returns the mass matrix from above, augmented by kin diff's k_kqdot
        if (self._frstar is None) & (self._fr is None):
            raise ValueError('Need to compute Fr, Fr* first.')
        o = len(self._u)
        n = len(self._q)
        return ((self._k_kqdot).row_join(zeros(n, o))).col_join((zeros(o,
                n)).row_join(self.mass_matrix))