Global dlc driver

MoorPy/moorpy/Catenary.py

@@ -299,7 +299,7 @@ def catenary(XF, ZF, L, EA, W, CB=0, HF0=0, VF0=0, Tol=0.000001, nNodes=20, MaxI
 
         # check for errors ( WOULD SOME NOT ALREADY HAVE BEEN CAUGHT AND RAISED ALREADY?)
         if info['error']==True:
-            breakpoint()
+            #breakpoint()
             # >>>> what about errors for which we can first plot the line profile?? <<<<
             raise CatenaryError("Error in catenary computations: "+info['message'])
 

MoorPy/moorpy/body.py

@@ -68,6 +68,8 @@ def __init__(self, mooringSys, num, type, r6, m=0, v=0, rCG=np.zeros(3), AWP=0,
 
         self.sharedLineTheta = []
         self.fairR = 0.
+
+        self.R = np.eye(3)             # body orientation rotation matrix
 
         #print("Created Body "+str(self.number))
 
@@ -118,9 +120,11 @@ def setPosition(self, r6):
         else:
             raise ValueError(f"Body setPosition method requires an argument of size 6, but size {len(r6):d} was provided")
 
+        self.R = rotationMatrix(self.r6[3], self.r6[4], self.r6[5])   # update body rotation matrix
+
         # update the position of any attached Points
         for PointID,rPointRel in zip(self.attachedP,self.rPointRel):
-            rPoint = transformPosition(rPointRel, r6)            
+            rPoint = np.matmul(self.R, rPointRel) + self.r6[:3]  # rPoint = transformPosition(rPointRel, r6)            
             self.sys.pointList[PointID-1].setPosition(rPoint)
 
         if self.sys.display > 3:     
@@ -349,5 +353,5 @@ def redraw(self):
 
 
 
-    
+#
 

MoorPy/moorpy/helpers.py

@@ -30,6 +30,12 @@ def __init__(self, message):
         self.message = message
 
 
+# Generic MoorPy error
+class MoorPyError(Error):
+    '''Derived error class for MoorPy. Contains an error message'''
+    def __init__(self, message):
+        self.message = str(message)
+
 
 
 

MoorPy/moorpy/system.py

@@ -11,7 +11,7 @@
 from moorpy.lineType import LineType
 
 #import moorpy.MoorSolve as msolve
-from moorpy.helpers import rotationMatrix, rotatePosition, getH, printVec, set_axes_equal, dsolve2, SolveError
+from moorpy.helpers import rotationMatrix, rotatePosition, getH, printVec, set_axes_equal, dsolve2, SolveError, MoorPyError
 
 
 
@@ -1305,7 +1305,10 @@ def step_func_equil(X, args, Y, oths, Ytarget, err, tol_, iter, maxIter):
 
         # Call dsolve function
         #X, Y, info = msolve.dsolve(eval_func_equil, X0, step_func=step_func_equil, tol=tol, maxIter=maxIter)
-        X, Y, info = dsolve2(eval_func_equil, X0, step_func=step_func_equil, tol=tols, maxIter=maxIter, display=display)
+        try:
+            X, Y, info = dsolve2(eval_func_equil, X0, step_func=step_func_equil, tol=tols, maxIter=maxIter, display=display)
+        except Exception as e:
+            raise MoorPyError(e)
         # Don't need to call Ytarget in dsolve because it's already set to be zeros
 
 
@@ -1332,21 +1335,22 @@ def step_func_equil(X, args, Y, oths, Ytarget, err, tol_, iter, maxIter):
                 print(f"current system stiffness: {K}")
                 print(f"\n Current force {F}")
 
-            # plot the convergence failure
-            if n < 8:
-                fig, ax = plt.subplots(2*n, 1, sharex=True)
-                for i in range(n):
-                    ax[  i].plot(info['Xs'][:info['iter']+1,i])
-                    ax[n+i].plot(info['Es'][:info['iter']+1,i])
-                ax[-1].set_xlabel("iteration")
-            else:
-                fig, ax = plt.subplots(n, 2, sharex=True)
-                for i in range(n):
-                    ax[i,0].plot(info['Xs'][:info['iter']+1,i])
-                    ax[i,1].plot(info['Es'][:info['iter']+1,i])
-                ax[-1,0].set_xlabel("iteration, X")
-                ax[-1,1].set_xlabel("iteration, Error")
-            plt.show()
+                # plot the convergence failure
+                if n < 8:
+                    fig, ax = plt.subplots(2*n, 1, sharex=True)
+                    for i in range(n):
+                        ax[  i].plot(info['Xs'][:info['iter']+1,i])
+                        ax[n+i].plot(info['Es'][:info['iter']+1,i])
+                    ax[-1].set_xlabel("iteration")
+                else:
+                    fig, ax = plt.subplots(n, 2, sharex=True)
+                    for i in range(n):
+                        ax[i,0].plot(info['Xs'][:info['iter']+1,i])
+                        ax[i,1].plot(info['Es'][:info['iter']+1,i])
+                    ax[-1,0].set_xlabel("iteration, X")
+                    ax[-1,1].set_xlabel("iteration, Error")
+                plt.show()
+
             raise SolveError(f"solveEquilibrium3 failed to find equilibrium after {iter} iterations, with residual forces of {F}")