Robot arm function

\[\sqrt{\left(\sum\limits_{i=1}^4L_i\cos\left(\sum\limits_{j=1}^i\theta_j\right)\right)^2+\left(\sum\limits_{i=1}^4L_i\sin\left(\sum\limits_{j=1}^i\theta_j\right) \right)^2},\quad L_i \in [0,1] \quad \text{for}\quad i=1,\dotsc,4 \quad \text{and}\quad \theta_j \in [0,2\pi]\quad\text{for}\quad j=1,\dotsc,4.\]

Usage

import matplotlib.pyplot as plt
import numpy as np

from smt.problems import RobotArm

ndim = 2
problem = RobotArm(ndim=ndim)

num = 100
x = np.ones((num, ndim))
x[:, 0] = np.linspace(0.0, 1.0, num)
x[:, 1] = np.pi
y = problem(x)

yd = np.empty((num, ndim))
for i in range(ndim):
    yd[:, i] = problem(x, kx=i).flatten()

print(y.shape)
print(yd.shape)

plt.plot(x[:, 0], y[:, 0])
plt.xlabel("x")
plt.ylabel("y")
plt.show()

(100, 1)
(100, 2)

Options

List of options

Option	Default	Acceptable values	Acceptable types	Description
ndim	2	None	[‘int’]
return_complex	False	None	[‘bool’]
name	RobotArm	None	[‘str’]