Update forceInternalMechanics and powerInternalMechanics in PTO blocks #1369
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It makes sense to calculate the internal PTO force based on the equation provided, I tested the modification and it works fine. I will go ahead and approve merge the PR |
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This PR resolves #1368. See discussion for details
In the PTO library:
forceInternalMechanicsto beF_total - F_actuation - F_constraintpowerInternalMechanicsto use the newforceInternalMechanicsand thevelocitysignalThis PR does not yet remove powerInternalMechanics, though I think that is a worthwhile discussion per my comment in #1368