Kane’s Method & Lagrange’s Method (Docstrings)¶
KaneMethod¶
-
class
sympy.physics.mechanics.kane.
KanesMethod
(frame, q_ind, u_ind, kd_eqs=None, q_dependent=None, configuration_constraints=None, u_dependent=None, velocity_constraints=None, acceleration_constraints=None, u_auxiliary=None)[source]¶ Kane’s method object.
This object is used to do the “book-keeping” as you go through and form equations of motion in the way Kane presents in: Kane, T., Levinson, D. Dynamics Theory and Applications. 1985 McGraw-Hill
The attributes are for equations in the form [M] udot = forcing.
Examples
This is a simple example for a one degree of freedom translational spring-mass-damper.
In this example, we first need to do the kinematics. This involves creating generalized speeds and coordinates and their derivatives. Then we create a point and set its velocity in a frame.
>>> from sympy import symbols >>> from sympy.physics.mechanics import dynamicsymbols, ReferenceFrame >>> from sympy.physics.mechanics import Point, Particle, KanesMethod >>> q, u = dynamicsymbols('q u') >>> qd, ud = dynamicsymbols('q u', 1) >>> m, c, k = symbols('m c k') >>> N = ReferenceFrame('N') >>> P = Point('P') >>> P.set_vel(N, u * N.x)
Next we need to arrange/store information in the way that KanesMethod requires. The kinematic differential equations need to be stored in a dict. A list of forces/torques must be constructed, where each entry in the list is a (Point, Vector) or (ReferenceFrame, Vector) tuple, where the Vectors represent the Force or Torque. Next a particle needs to be created, and it needs to have a point and mass assigned to it. Finally, a list of all bodies and particles needs to be created.
>>> kd = [qd - u] >>> FL = [(P, (-k * q - c * u) * N.x)] >>> pa = Particle('pa', P, m) >>> BL = [pa]
Finally we can generate the equations of motion. First we create the KanesMethod object and supply an inertial frame, coordinates, generalized speeds, and the kinematic differential equations. Additional quantities such as configuration and motion constraints, dependent coordinates and speeds, and auxiliary speeds are also supplied here (see the online documentation). Next we form FR* and FR to complete: Fr + Fr* = 0. We have the equations of motion at this point. It makes sense to rearrnge them though, so we calculate the mass matrix and the forcing terms, for E.o.M. in the form: [MM] udot = forcing, where MM is the mass matrix, udot is a vector of the time derivatives of the generalized speeds, and forcing is a vector representing “forcing” terms.
>>> KM = KanesMethod(N, q_ind=[q], u_ind=[u], kd_eqs=kd) >>> (fr, frstar) = KM.kanes_equations(BL, FL) >>> MM = KM.mass_matrix >>> forcing = KM.forcing >>> rhs = MM.inv() * forcing >>> rhs Matrix([[(-c*u(t) - k*q(t))/m]]) >>> KM.linearize(A_and_B=True, new_method=True)[0] Matrix([ [ 0, 1], [-k/m, -c/m]])
Please look at the documentation pages for more information on how to perform linearization and how to deal with dependent coordinates & speeds, and how do deal with bringing non-contributing forces into evidence.
Attributes
q, u (Matrix) Matrices of the generalized coordinates and speeds bodylist (iterable) Iterable of Point and RigidBody objects in the system. forcelist (iterable) Iterable of (Point, vector) or (ReferenceFrame, vector) tuples describing the forces on the system. auxiliary (Matrix) If applicable, the set of auxiliary Kane’s equations used to solve for non-contributing forces. mass_matrix (Matrix) The system’s mass matrix forcing (Matrix) The system’s forcing vector mass_matrix_full (Matrix) The “mass matrix” for the u’s and q’s forcing_full (Matrix) The “forcing vector” for the u’s and q’s -
auxiliary_eqs
¶ A matrix containing the auxiliary equations.
-
forcing
¶ The forcing vector of the system.
-
forcing_full
¶ The forcing vector of the system, augmented by the kinematic differential equations.
-
kanes_equations
(bodies, loads=None)[source]¶ Method to form Kane’s equations, Fr + Fr* = 0.
Returns (Fr, Fr*). In the case where auxiliary generalized speeds are present (say, s auxiliary speeds, o generalized speeds, and m motion constraints) the length of the returned vectors will be o - m + s in length. The first o - m equations will be the constrained Kane’s equations, then the s auxiliary Kane’s equations. These auxiliary equations can be accessed with the auxiliary_eqs().
Parameters: bodies : iterable
An iterable of all RigidBody’s and Particle’s in the system. A system must have at least one body.
loads : iterable
Takes in an iterable of (Particle, Vector) or (ReferenceFrame, Vector) tuples which represent the force at a point or torque on a frame. Must be either a non-empty iterable of tuples or None which corresponds to a system with no constraints.
-
linearize
(**kwargs)[source]¶ Linearize the equations of motion about a symbolic operating point.
If kwarg A_and_B is False (default), returns M, A, B, r for the linearized form, M*[q’, u’]^T = A*[q_ind, u_ind]^T + B*r.
If kwarg A_and_B is True, returns A, B, r for the linearized form dx = A*x + B*r, where x = [q_ind, u_ind]^T. Note that this is computationally intensive if there are many symbolic parameters. For this reason, it may be more desirable to use the default A_and_B=False, returning M, A, and B. Values may then be substituted in to these matrices, and the state space form found as A = P.T*M.inv()*A, B = P.T*M.inv()*B, where P = Linearizer.perm_mat.
In both cases, r is found as all dynamicsymbols in the equations of motion that are not part of q, u, q’, or u’. They are sorted in canonical form.
The operating points may be also entered using the
op_point
kwarg. This takes a dictionary of {symbol: value}, or a an iterable of such dictionaries. The values may be numberic or symbolic. The more values you can specify beforehand, the faster this computation will run.As part of the deprecation cycle, the new method will not be used unless the kwarg
new_method
is set to True. If the kwarg is missing, or set to false, the old linearization method will be used. After next release the need for this kwarg will be removed.For more documentation, please see the
Linearizer
class.
-
mass_matrix
¶ The mass matrix of the system.
-
mass_matrix_full
¶ The mass matrix of the system, augmented by the kinematic differential equations.
-
rhs
(inv_method=None)[source]¶ Returns the system’s equations of motion in first order form.
The output of this will be the right hand side of:
[qdot, udot].T = f(q, u, t)
Or, the equations of motion in first order form. The right hand side is what is needed by most numerical ODE integrators.
Parameters: inv_method : str
The specific sympy inverse matrix calculation method to use. For a list of valid methods, see
inv()
-
LagrangesMethod¶
-
class
sympy.physics.mechanics.lagrange.
LagrangesMethod
(Lagrangian, qs, coneqs=None, forcelist=None, frame=None, hol_coneqs=None, nonhol_coneqs=None)[source]¶ Lagrange’s method object.
This object generates the equations of motion in a two step procedure. The first step involves the initialization of LagrangesMethod by supplying the Lagrangian and the generalized coordinates, at the bare minimum. If there are any constraint equations, they can be supplied as keyword arguments. The Lagrange multipliers are automatically generated and are equal in number to the constraint equations. Similarly any non-conservative forces can be supplied in an iterable (as described below and also shown in the example) along with a ReferenceFrame. This is also discussed further in the __init__ method.
Examples
This is a simple example for a one degree of freedom translational spring-mass-damper.
In this example, we first need to do the kinematics. This involves creating generalized coordinates and their derivatives. Then we create a point and set its velocity in a frame.
>>> from sympy.physics.mechanics import LagrangesMethod, Lagrangian >>> from sympy.physics.mechanics import ReferenceFrame, Particle, Point >>> from sympy.physics.mechanics import dynamicsymbols, kinetic_energy >>> from sympy import symbols >>> q = dynamicsymbols('q') >>> qd = dynamicsymbols('q', 1) >>> m, k, b = symbols('m k b') >>> N = ReferenceFrame('N') >>> P = Point('P') >>> P.set_vel(N, qd * N.x)
We need to then prepare the information as required by LagrangesMethod to generate equations of motion. First we create the Particle, which has a point attached to it. Following this the lagrangian is created from the kinetic and potential energies. Then, an iterable of nonconservative forces/torques must be constructed, where each item is a (Point, Vector) or (ReferenceFrame, Vector) tuple, with the Vectors representing the nonconservative forces or torques.
>>> Pa = Particle('Pa', P, m) >>> Pa.potential_energy = k * q**2 / 2.0 >>> L = Lagrangian(N, Pa) >>> fl = [(P, -b * qd * N.x)]
Finally we can generate the equations of motion. First we create the LagrangesMethod object. To do this one must supply the Lagrangian, and the generalized coordinates. The constraint equations, the forcelist, and the inertial frame may also be provided, if relevant. Next we generate Lagrange’s equations of motion, such that: Lagrange’s equations of motion = 0. We have the equations of motion at this point.
>>> l = LagrangesMethod(L, [q], forcelist = fl, frame = N) >>> print(l.form_lagranges_equations()) Matrix([[b*Derivative(q(t), t) + 1.0*k*q(t) + m*Derivative(q(t), t, t)]])
We can also solve for the states using the ‘rhs’ method.
>>> print(l.rhs()) Matrix([[Derivative(q(t), t)], [(-b*Derivative(q(t), t) - 1.0*k*q(t))/m]])
Please refer to the docstrings on each method for more details.
Attributes
q, u (Matrix) Matrices of the generalized coordinates and speeds forcelist (iterable) Iterable of (Point, vector) or (ReferenceFrame, vector) tuples describing the forces on the system. mass_matrix (Matrix) The system’s mass matrix forcing (Matrix) The system’s forcing vector mass_matrix_full (Matrix) The “mass matrix” for the qdot’s, qdoubledot’s, and the lagrange multipliers (lam) forcing_full (Matrix) The forcing vector for the qdot’s, qdoubledot’s and lagrange multipliers (lam) -
forcing
¶ Returns the forcing vector from ‘lagranges_equations’ method.
-
forcing_full
¶ Augments qdots to the forcing vector above.
-
form_lagranges_equations
()[source]¶ Method to form Lagrange’s equations of motion.
Returns a vector of equations of motion using Lagrange’s equations of the second kind.
-
linearize
(q_ind=None, qd_ind=None, q_dep=None, qd_dep=None, **kwargs)[source]¶ Linearize the equations of motion about a symbolic operating point.
If kwarg A_and_B is False (default), returns M, A, B, r for the linearized form, M*[q’, u’]^T = A*[q_ind, u_ind]^T + B*r.
If kwarg A_and_B is True, returns A, B, r for the linearized form dx = A*x + B*r, where x = [q_ind, u_ind]^T. Note that this is computationally intensive if there are many symbolic parameters. For this reason, it may be more desirable to use the default A_and_B=False, returning M, A, and B. Values may then be substituted in to these matrices, and the state space form found as A = P.T*M.inv()*A, B = P.T*M.inv()*B, where P = Linearizer.perm_mat.
In both cases, r is found as all dynamicsymbols in the equations of motion that are not part of q, u, q’, or u’. They are sorted in canonical form.
The operating points may be also entered using the
op_point
kwarg. This takes a dictionary of {symbol: value}, or a an iterable of such dictionaries. The values may be numberic or symbolic. The more values you can specify beforehand, the faster this computation will run.For more documentation, please see the
Linearizer
class.
-
mass_matrix
¶ Returns the mass matrix, which is augmented by the Lagrange multipliers, if necessary.
If the system is described by ‘n’ generalized coordinates and there are no constraint equations then an n X n matrix is returned.
If there are ‘n’ generalized coordinates and ‘m’ constraint equations have been supplied during initialization then an n X (n+m) matrix is returned. The (n + m - 1)th and (n + m)th columns contain the coefficients of the Lagrange multipliers.
-
mass_matrix_full
¶ Augments the coefficients of qdots to the mass_matrix.
-
rhs
(inv_method=None, **kwargs)[source]¶ Returns equations that can be solved numerically
Parameters: inv_method : str
The specific sympy inverse matrix calculation method to use. For a list of valid methods, see
inv()
-
solve_multipliers
(op_point=None, sol_type='dict')[source]¶ Solves for the values of the lagrange multipliers symbolically at the specified operating point
Parameters: op_point : dict or iterable of dicts, optional
Point at which to solve at. The operating point is specified as a dictionary or iterable of dictionaries of {symbol: value}. The value may be numeric or symbolic itself.
sol_type : str, optional
Solution return type. Valid options are: - ‘dict’: A dict of {symbol : value} (default) - ‘Matrix’: An ordered column matrix of the solution
-
to_linearizer
(q_ind=None, qd_ind=None, q_dep=None, qd_dep=None)[source]¶ Returns an instance of the Linearizer class, initiated from the data in the LagrangesMethod class. This may be more desirable than using the linearize class method, as the Linearizer object will allow more efficient recalculation (i.e. about varying operating points).
Parameters: q_ind, qd_ind : array_like, optional
The independent generalized coordinates and speeds.
q_dep, qd_dep : array_like, optional
The dependent generalized coordinates and speeds.
-


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{% extends "examples/example.template.html" %}
{% set title = "Instructing first-time contributors" %}
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set(obj)
Return a set initialized with the elements in the object obj
. Obj
must be either a set,
a list, an array, a string or
a hash table. If obj
is a hash table, each key-value pair will become an entry in the set.
A set stores an unordered sequence of objects without duplicates. It is an implementation of the mathematical concept
of a finite set.
Unlike most other collection types, rather than retrieving a specific element from a set, one typically tests a value for membership in a set.
A set literal is written by enclosing the objects in #()
, example: #(1, 2, 3, 4, 5)
.
set(#{1:2, 3:4}) // hash table -> set
// #(1:2, 3:4)
set("hello, world") // string -> set
// #(\,,\o,\e,\w,\r,\h,\d,\l,\space)
set([1,2,3,2,3,4]) // list -> set
// #(1,2,3,4)
set(#[1,2,3,2,3,4]) // array -> set
// #(1,2,3,4)
set(#(1,2,3,2,3,4)) // set -> set
// #(1,2,3,4)


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public class RegularPolygon extends Shape
| Constructor and Description |
|---|
RegularPolygon(float centerX,
float centerY,
float radius,
int totalSides,
float rotationSymmetry)
Constructor
|
RegularPolygon(RegularPolygon regularPolygon)
Constructs a new
RegularPolygon as a copy of another |
| Modifier and Type | Method and Description |
|---|---|
boolean |
contains(float x,
float y)
Returns if a set of coordinates are contained inside this
Shape |
boolean |
contains(Shape shape)
|
boolean |
contains(com.badlogic.gdx.math.Vector2 vector2)
Returns if a
Vector2 is contained inside this Shape |
Shape |
copy()
Returns an exact copy of this
Shape |
void |
draw(Graphics g)
Draws this shape using a
Graphics instance |
EdgeIterator |
edgeIterator()
Returns an
EdgeIterator for looping over the edges of this
Shape |
void |
fill(Graphics g)
Fills this shape using a
Graphics instance |
float |
getDistanceTo(float x,
float y)
Returns the distance from this
Shape to a set of coordinates |
float |
getMaxX()
Returns the right-most x coordinate
|
float |
getMaxY()
Returns the bottom-most y coordinate
|
float |
getMinX()
Returns the left-most x coordinate
|
float |
getMinY()
Returns the top-most y coordinate
|
int |
getNumberOfSides()
Returns the number of edges of this object
|
Polygon |
getPolygon()
|
float |
getRadius()
Returns the radius of this
RegularPolygon |
float |
getRotation()
Returns the rotation of this
Shape |
float |
getX()
Returns the center X coordinate of this
RegularPolygon |
float |
getX(int index)
Returns the x coordinate of the corner at the specified index
|
float |
getY()
Returns the center Y coordinate of this
RegularPolygon |
float |
getY(int index)
Returns the y coordinate of the corner at the specified index
|
boolean |
intersects(LineSegment lineSegment)
Returns if this
Shape intersects the specified
LineSegment |
boolean |
intersects(Polygon polygon)
Returns if this
RegularPolygon intersects a Polygon |
boolean |
intersects(Rectangle rectangle)
Returns if the specified
Rectangle intersects this
RegularPolygon |
boolean |
intersects(Shape shape)
|
boolean |
intersectsLineSegment(float x1,
float y1,
float x2,
float y2)
Returns if this
Shape intersects a line segment |
boolean |
intersectsLineSegment(com.badlogic.gdx.math.Vector2 pointA,
com.badlogic.gdx.math.Vector2 pointB)
Returns if this
Shape intersects a line segment |
boolean |
isCircle()
|
void |
rotate(float degrees)
Rotates this
Shape by a specified amount of degrees with its first point as the origin |
void |
rotateAround(float centerX,
float centerY,
float degrees)
Rotates this
Shape by a specified amount of degrees around a specified point |
void |
set(float centerX,
float centerY)
Sets the center X and Y coordinates.
|
void |
setRadius(float radius)
Sets the radius of this
RegularPolygon
Note: This operation is expensive |
void |
setRotation(float degrees)
Sets the rotation of this
Shape with its first point as the origin |
void |
setRotationAround(float centerX,
float centerY,
float degrees)
Sets the rotation of this
Shape with a specified point as the origin |
void |
setX(float centerX)
Sets the X coordinate of this
RegularPolygon |
void |
setY(float centerY)
Sets the Y coordinate of this
RegularPolygon |
void |
translate(float translateX,
float translateY)
Translates the x and y coordinate of this object
|
public RegularPolygon(float centerX, float centerY, float radius, int totalSides, float rotationSymmetry)
centerX
- The center X coordinatecenterY
- The center Y coordinateradius
- The distance from the center to the corner pointstotalSides
- The total sides of this shaperotationSymmetry
- The rotational symmetry of the corner points from the centerpublic RegularPolygon(RegularPolygon regularPolygon)
RegularPolygon
as a copy of anotherregularPolygon
- The RegularPolygon
to copypublic void draw(Graphics g)
Shape
Graphics
instancepublic void fill(Graphics g)
Shape
Graphics
instancepublic boolean intersects(Polygon polygon)
RegularPolygon
intersects a Polygon
polygon
- The Polygon
to checkRegularPolygon
and Polygon
intersectpublic boolean intersects(Rectangle rectangle)
Rectangle
intersects this
RegularPolygon
rectangle
- The Rectangle
to checkRegularPolygon
and Rectangle
intersectpublic boolean contains(float x, float y)
Shape
Shape
public boolean contains(com.badlogic.gdx.math.Vector2 vector2)
Shape
Vector2
is contained inside this Shape
public boolean intersects(Shape shape)
Shape
intersects
in class Shape
shape
- The Shape
to checkShape
intersects the specified Shape
public boolean intersects(LineSegment lineSegment)
Shape
Shape
intersects the specified
LineSegment
intersects
in class Shape
lineSegment
- The LineSegment
to checkShape
intersects the LineSegment
public boolean intersectsLineSegment(com.badlogic.gdx.math.Vector2 pointA, com.badlogic.gdx.math.Vector2 pointB)
Shape
Shape
intersects a line segmentintersectsLineSegment
in class Shape
pointA
- The first point in the line segmentpointB
- The second point in the line segmentShape
intersects the line segmentpublic boolean intersectsLineSegment(float x1, float y1, float x2, float y2)
Shape
Shape
intersects a line segmentintersectsLineSegment
in class Shape
x1
- The x coordinate of the first pointy1
- The y coordinate of the first pointx2
- The x coordinate of the second pointy2
- The y coordinate of the second pointShape
intersects the line segmentpublic float getDistanceTo(float x, float y)
Shape
Shape
to a set of coordinatesgetDistanceTo
in class Shape
x
- The x coordinatey
- The y coordinatepublic float getRotation()
Shape
Shape
getRotation
in class Shape
public void setRotation(float degrees)
Shape
Shape
with its first point as the originsetRotation
in class Shape
degrees
- The rotation in degreespublic void setRotationAround(float centerX, float centerY, float degrees)
Shape
Shape
with a specified point as the originsetRotationAround
in class Shape
centerX
- The origin/center x coordinatecenterY
- The origin/center y coordinatedegrees
- The rotation in degreespublic void rotate(float degrees)
Shape
Shape
by a specified amount of degrees with its first point as the originpublic void rotateAround(float centerX, float centerY, float degrees)
Shape
Shape
by a specified amount of degrees around a specified pointrotateAround
in class Shape
centerX
- The origin/center x coordinatecenterY
- The origin/center y coordinatedegrees
- The rotation in degreespublic float getX()
RegularPolygon
public void setX(float centerX)
RegularPolygon
public float getY()
RegularPolygon
public void setY(float centerY)
RegularPolygon
public void set(float centerX, float centerY)
setX(float)
and setY(float)
separately.public void translate(float translateX, float translateY)
Shape
public float getRadius()
RegularPolygon
public void setRadius(float radius)
RegularPolygon
Note: This operation is expensiveradius
- The distance between the center and its cornerspublic float getX(int index)
index
- The index where 0 = the top corner and increments in a
clockwise methodpublic float getY(int index)
index
- The index where 0 = the top corner and increments in a
clockwise methodpublic int getNumberOfSides()
Shape
getNumberOfSides
in class Shape
public EdgeIterator edgeIterator()
Shape
EdgeIterator
for looping over the edges of this
Shape
edgeIterator
in class Shape
EdgeIterator
public boolean isCircle()
Shape
public Polygon getPolygon()
Shape
getPolygon
in class Shape
Shape
is a Circle
public float getMinX()
Shape
public float getMinY()
Shape
public float getMaxX()
Shape


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"A retired accountant who was almost four times over the drink-driving
limit smiled and waved at police as he drove the wrong way down the fast lane
of a motorway, a court heard today. "How did they know I was going the wrong
way? I didn't even tell them where I was going!"
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Read article...
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Bug eats antibiotic
Detroit Free Press | Submitted by: John Trotter
"Her sores were infected with a virulent new strain of the bacterium
staphylococcus aureus, or staph aureus. By stealing genetic material from
another bug, the new strain became totally resistant to vancomycin, the
longtime drug of last defense against it. Health officials would not identify
the metro Detroit woman or what hospital treated her."
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Read article...
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The human Swiss Army Knife
Sydney Morning Herald | Submitted by: Dark Pa
"An eccentric Frenchman who goes by the name of Crazy Eric has entered the
record books for the unusual feat of carrying permanently about his body more
than 1,000 useful objects... he carries a shaving kit, comprehensive first
aid gear, a mini-saw, blow-up mattress, spare batteries, a change of clothes,
a water-pouch, a water-filtering unit, soldering iron, tape-measure,
digital camera, etc etc." Stupid.
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Read article...
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Secret garden gnome hideout discovered
Independent Online | Submitted by: David Liberman
"Puzzled French police are investigating after a mushroom hunter stumbled
on an unexpected find in the middle of a pine forest in south-west France:
101 garden gnomes." They are investigating whether the newly discovered coven
is related to the mysterious Front for the Liberation of Gnomes.
|
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Read article...
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Trains lick thirsty camels racing on the track
The Age | Submitted by: Dark Pa
"When the train comes, you blow the whistle, but they get on the line
and run down the line, and a train can outrun a camel, even at flat-tack.

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Read article...
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Fugitives pick wrong hideout
Wire Services | Submitted by: Spookbabe
"Suspected thieves on the run from Australian police picked precisely the
wrong place to hide on Monday, the prime minister's heavily guarded
harborside residence in Sydney."
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Read article...
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Mom cheers as son pummels officer
Pittsburgh Tribune-Review | Submitted by: drewicide
"As a Sheraden woman watched her 17 year old son pummel a probation officer
after a hearing Tuesday at Shuman Juvenile Detention Center, police said she
kept egging him on, screaming "Kill him! Get him! He deserves this!"
They're both in jail, now.
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Read article...
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Hockey team signs 7'7 Dinka tribesman
ESPN | Submitted by: Cr0w
Manute Bol, of NBA and celebrity boxing fame, has signed a contract to play
for the Indianapolis Ice of the Central Hockey League. It seems like this is
all just a publicity scam and that Bol will not get to play, especially since
they don't make hockey equiptment for people who are 7'7" tall.
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Read article...
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PETA still not making friends
Canadian Broadcasting | Submitted by: Reid Fleming
Vancouver-area pig farmer Robert William Pickton is alleged to be Canada's
most prolific serial killer, as he is currently facing 15 murder counts. And
the People for the Ethical Treatment of Animals (PETA) have decided that this
opportunity is too good not to capitalize on. So they have devised a newspaper
ad inviting comparisons between the fates of Pickton's victims, both human
and porcine. The ad proffers a set of headlines seemingly ripped from the
murder investigation: "They were drugged and dragged across the room...
Their struggles and cries went unanswered... They were slaughtered and their
heads sawed off..." Then the ad equates raising livestock with animal
cruelty, and goes on to imply that the meat industry is a training camp for
serial killers. After the Vancouver Province rejected the ad for
publication, PETA issued a statement which reads in part: "People who are
appalled by Pickton's alleged acts think nothing of sitting down to a dinner
featuring the cut-up bits of a tormented animal's body." Great work, guys.
It's not like this will further marginalize your already unpopular cause.
|
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Read article... and
This article...
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David Duke and milk equally evil, says PETA
New Orleans Channel | Submitted by: joelvis
"An animal rights group has made David Duke the poster boy for intolerance.
A picture of Duke, a former Ku Klux Klan leader, is on a Shreveport billboard
put up by People for the Ethical Treatment of Animals encouraging people not
to drink milk. Sporting the white mustache that has become the trademark for
the "Got Milk?" campaign, Duke's picture carries the caption: "Got (lactose)
intolerance? The white stuff ain't the right stuff."
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Read article...
|
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Woman charged with naked Bible study
WKMG-TV 6 Orlando | Submitted by: Rio
"Authorities in West Virginia have charged a nude Bible reader with indecent
exposure. The 49 year old woman has also been charged with disturbance of
school and disorderly conduct. Police say Barbara Harmison's clothes were in
a pile beside her as she read from the Bible on the steps of a building at
Shepherd College Monday."
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Read article...
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Prehistoric cyborgs and modern Man
Pravda | Submitted by: Natas
The latest Pravda sensation: "What is especially interesting, it is supposed
that some of the internals and several parts of the brain were made of unknown
artificial materials. It may be that they were created in a step-wise manner
in the course of very complicated operations; the operations were performed on
a more perfect level compared with todayís operations."
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Read article...
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Eleven yr old Woody sucked naked from shower
New York Times | Submitted by: Tribal Outsider
Could we make this up? The New York Times reports that "Quentin Woody,
11, who was sucked from the shower in his mobile home and blown 300 yards
away stark naked..." The rest of this article is run of the mill tornado
reporting. We really credit the author, for being able to get that
line into the New York Times. If I were the author, I'd feel this was
the zenith of my career.
|
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Read article...
|
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Sucking machine gives near-fatal blow
Edinburgh News | Submitted by: meatload
"The family of James Johnston, from Bonnyrigg, are taking legal action
against the Western General after he was left critically ill in intensive
care. His mother, Angela, 46, said a doctor had told her a machine used
to 'suck' a stone from her sonís kidney had actually been blowing gas
and air into the organ by mistake."
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Read article...
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Florida police hunt Champagne Bandit
Anchorage Daily News | Submitted by: Alaska Freegold
Nice to know all the REAL criminals are behind bars in Florida:
"Police are looking for a rather finicky shoplifter: a man who apparently
likes Moet & Chandon White Star champagne. The man, called the "Champagne
Bandit," has stolen $30 bottles of the bubbly from Publix supermarkets
along central Florida's east coast, according to the St. Lucie County
Sheriff's office."
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Read article...
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Spiderman Sr. sues Marvel
MSNBC | Submitted by: kade
"The creative force behind Spider-Man, the Incredible Hulk and the X-Men
filed a $10 million lawsuit Tuesday, charging his old comic book company is
cheating him out of millions of dollars in movie profits. Stan Lee, who
crafted a menagerie of superpowered heroes with very human flaws, now claims
Marvel Entertainment Inc. has tried to shut him out of the 'jackpot' success
of this summer's Spider-Man movie."
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Read article...
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Bitch betta have my money
WDIV-TV 4 Detroit | Submitted by: PISTdetroit
"The man, who police say is known as "Q," had reportedly been recruiting
prostitutes to commit bank robberies for him. Detectives knew from previous
cases that the female suspects would hide in nearby restaurants and hair
salons after the robberies, police said. The man would provide the women
with a note, a disguise and a bag for money."
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Read article...
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Disabled man beat veteran to death
Boston Herald | Submitted by: Angus Beef
"A disabled golf ball collector who allegedly beat a Quincy grandfather
to death boasted that the victim 'got what he deserved' because he had
tried to swipe his prized booty, a prosecutor said yesterday." Great photos
of menacing perp in his wheelchair.
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Read article...
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Rock, Paper, Scissors tournament
Canadian Press | Submitted by: EnDoRpHiN
"Rock, paper, scissors, the popular childhood game of chance, will be played
by 250 adults this weekend in an international championship with $2,000 in
prizes, proving the age-old pastime is no longer played only to determine who
gets the last slice of pizza or the shotgun seat in a car."
|
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Read article...
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Father wants rest of son shipped home ASAP
ABC News | Submitted by: Milk Bone
"The body of a Spanish bullfighter murdered in Peru was missing his
eyes, brain and heart and was stuffed with sawdust and pages from a telephone
directory before being sent home, his father said. [The body] left Peru
without eyes, without a brain...
He didn't have his lungs, heart, liver or intestines, absolutely nothing...
The eyes were also removed and there was woman's skin on his face, which we
think was put there to cover up scars from abuse and torture."
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Read article...
|
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Men fed woman to lions
Independent Online | Submitted by: Alaska Freegold
"The one grinned and then shook his head in disbelief, while his
accomplice sat quietly in the dock with a stern look behind his spectacles.
This was how two men, convicted of brutally mutilating a woman and feeding
her body parts to lions, reacted when the Chinese interpreter told them
they had been found guilty. [The victim] was killed, chopped to pieces,
boiled and disposed off at the Lion Park in Fourways."
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Read article...
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Crackdown: No more peeing in the sink
Green Bay Press-Gazette | Submitted by: Milk Bone
"Green Bay police said there were no arrests Sunday for men urinating
in sinks at Lambeau Field. Only six days earlier, police were cuffing and
ticketing people by the dozen for the unsanitary offense. "It was a lot
better," said Green Bay police Cmdr. Al Timmerman. "The problem of people
urinating in the sinks all but disappeared. They apparently got the
message that, if you go in the sink, youíre going to get arrested. We
accomplished what we wanted to do."
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Read article...
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AA Authentication, OTP & Refresh Token
Back
Clear application data (localStorage & httponly cookie)
check console for logs
check configs token expiry, refresh expiry, httponly?, use otp = TEST?
Login test / test
Send OTP 111111
Get Private Data
Logout
Info for Fetch class
Output will be shown here


complex-fraction
maths-function-mean
quadrilateral
simple-complex-ex1
simple-complex-ex2
simple-complex-ex3
sums-with-sigma
urn-1-red-n-white


Thank you for choosing Electronic Grocery List, Ver 1.0 for your grocery shopping needs! Click the appropriate button to create/adjust your list.
- To add an item, enter the item name and quanity/price .
- If no quantity/price is specified, the item will default to 1 and 0.00 respectively
- To remove an item, write desired item then click the 'Remove Item' button
- Quantities, prices per item, and checked status each adjust based off the current item that is entered into the text form.
YOUR LIST
| ITEM |
QUANTITY |
PRICE/ITEM |
CHECKED? |
TOTAL CALCULATED MINIMUM PRICE: $


The effective time managment system is the most important skills of the outstanding people. This productive To-Do list is desgined based on the most effective time management strategy which will help you to optimize your day.


|
RGL
<IP_ADDRESS>
|
Object manager for opengl shader program. More...
#include <rgl_shader_program.h>
Public Member Functions | |
| ShaderProgram () noexcept | |
| Creates empty program object. | |
| ShaderProgram (const GLuint shader_type, std::initializer_list< std::string_view > &&sources) | |
| ~ShaderProgram () | |
| Deletes gl shader program object. | |
| ShaderProgram (ShaderProgram &&other) noexcept | |
| ShaderProgram & | operator= (ShaderProgram &&other) noexcept |
| bool | LinkProgram () const noexcept |
| Link program using set of unique shader objects. | |
| Public Member Functions inherited from rgl::GLName | |
| GLName (const GLuint gl_name=GLuint{}) | |
| ~GLName () | |
| Destructor. | |
| GLName (GLName &&other) noexcept | |
| Move constructs handle to opengl object. | |
| GLName & | operator= (GLName &&other) noexcept |
| Transfers name_. | |
| GLName (GLName &other)=delete | |
| Copy construction is deleted. | |
| GLName & | operator= (GLName &other)=delete |
| Copy assign is deleted. | |
| GLuint | Name () const noexcept |
| Get opengl object name. | |
Additional Inherited Members | |
| Protected Attributes inherited from rgl::GLName | |
| GLuint | name_ {} |
| Name of opengl object. | |
Object manager for opengl shader program.
Definition at line 10 of file rgl_shader_program.h.
| rgl::ShaderProgram::ShaderProgram | ( | const GLuint | shader_type, |
| std::initializer_list< std::string_view > && | sources | ||
| ) |
Creates separate shader program from sources.
| shader_type | type of shader |
| sources | list of sources |
Definition at line 55 of file rgl_shader_program.cpp.
|
noexcept |
Move construct shader program. Transfer gl object ownership.
| other | shader to move from |
Definition at line 60 of file rgl_shader_program.cpp.
|
noexcept |
Move assign. Transfer gl object ownership.
| other | shader to move from |
Definition at line 70 of file rgl_shader_program.cpp.


--- layout: post title: Inauguration Ceremony 2016 categories: [review] thumb-img: /inaug1617/thumb.png feature-img: /inaug1617/feature-d.jpg excerpt: The Inauguration Ceremony 2016 of The Student Surgical Association of Hong Kong (SSAHK) was successfully held on 25th November 2016 ... ---
The Inauguration Ceremony 2016 of The Student Surgical Association of Hong Kong (SSAHK) was successfully held on 25th November 2016 at Hong Kong Academy of Medicine Jockey Club Building. The ceremony is a memorable occasion to celebrate the achievements and contribution of the outgoing executive committee and to introduce the 3rd executive committee to all our members.
It is our honour to have Prof Lam Tai Pong, Prof Yung Shu Hang, Dr Au Yiu Kai, Dr Lorraine Chow and Dr Cyrus Tse to witness our ceremony and to deliver inspiring speeches to all of us. We would also like to express our gratitude to the representatives from other student organizations for joining us on the day. Last but not least, we are grateful enough to have the 2nd executive committee building up an excellent foundation for us to embark on our new journey.
The 3rd executive committee is ready to continue the mission of SSAHK. We look forward to seeing you in our upcoming events!


Cleland R. Moore
Paintings
Contact
Click on the thumbnail images to view
Looking Out
River 1
«
1
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2
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3
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4


 There is a line, and people who line up walk away with printed pages. Ipso Facto, you think, this is where you pick up things you print from the computer. Do I really need to wait in this line?
| . . . . . | ||
| Yes | No | |
| . . . . . |


I always liked the Windows 8 / Window Phone loader. I think it fits very good in responsive designs so just added it to Stashy. The loader works using CSS3 transitions and animations so only modern browsers could show it properly.
Not required any HTML. The loader will be generated dynamically using JavaScript.
Stashy.Loader(target)
| Parameter | Type | Description |
|---|---|---|
| target | string | Select the element node where the loader will be appended to |
| Name | Description |
|---|---|
| on(position,offset,color, insertiontype) | Create and show the loader |
|
position: Can choose "absolute", "relative", "fixed", "static" offset: Offset from the chosen target (e.g. "20px" or "2em" ...) color: Color you want to use (e.g. #000) insertiontype: "prepend" for adding the loader like first child or "append" for last child |
|
| off() | Destroy and hide the loader |
var loader = Stashy.Loader("#page").on("relative","2em","#000","prepend"); loader.off();
Choose your options or leave defaults included and click the button for showing the loader
less
For using just this component, create a .less file similar to Stashy.less, include in order the following imports and compile:
Stashy.Variables.less Stashy.Mixins.less Stashy.Loader.lessJS
jQuery.js Stashy.Loader.js


tgatoppm(1) tgatoppm(1) NAME tgatoppm - convert TrueVision Targa file into a portable pixmap SYNOPSIS tgatoppm [--alphaout={alpha-filename,-}] [--headerdump] tga-filename DESCRIPTION Reads a TrueVision Targa file as input. Produces a portable pixmap as output. OPTIONS --alphaout=alpha-filename tgatoppm creates a PGM (portable graymap) file containing the alpha channel values in the input image. If the input image doesn't contain an alpha channel, the alpha-filename file contains all zero (transparent) alpha values. If you don't specify --alphaout, tgatoppm does not generate an alpha file, and if the input image has an alpha channel, tgatoppm simply discards it. If you specify - as the filename, tgatoppm writes the alpha output to Standard Output and discards the image. See pnmcomp(1) for one way to use the alpha output file. --headerdump Causes the header information to be dumped to stderr. All options can be abbreviated to their shortest unique prefix. Should really be in PNM, not PPM. SEE ALSO ppmtotga(1), pnmcomp(1), ppm(5) AUTHOR Partially based on tga2rast, version 1.0, by Ian J. MacPhedran. Copyright (C) 1989 by Jef Poskanzer. 02 April 2000 tgatoppm(1)


org.beanio.annotation
Interfaces
AnnotationConstants
Annotation Types
Field
Fields
Group
Record
Segment


I'm currently looking for a full-time job as a software engineer
If you think I'm a match, please don't hesitate to contact me
Email<EMAIL_ADDRESS>Phone: +1<PHONE_NUMBER>


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Troubles with emoncms.org |
0 |
4 years 4 weeks ago by StuntMonkeh |
n/a |
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Troubleshooting inactive nodes |
5 |
1 year 6 weeks ago by joshpond |
1 year 6 weeks ago by joshpond |
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trying to start my emontx v2 |
49 |
1 year 46 weeks ago by Hulda |
1 year 45 weeks ago by calypso_rae |
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Two out of three samples lost when sending to emoncms.org? |
9 |
1 year 2 weeks ago by JohanM |
51 weeks 2 days ago by JohanM |
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Type 2 with one CT clamp? Pulse meter instead of AC-AC? |
2 |
1 year 17 weeks ago by SolarFish |
1 year 17 weeks ago by calypso_rae |
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U.S. EmonPi |
2 |
1 year 29 weeks ago by JBlackham |
1 year 29 weeks ago by JBlackham |
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U.S. Issue - 120V Circuits and 240V Circuits - How to Measure |
1 |
1 year 12 weeks ago by JBlackham |
1 year 12 weeks ago by Robert Wall |
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Unable to edit input processlists |
2 |
2 years 11 weeks ago by pb66 |
2 years 11 weeks ago by pb66 |
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Unable to send e-mail. Please contact the site administrator if the problem persists |
15 |
1 year 45 weeks ago by pb66 |
1 year 45 weeks ago by pb66 |
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Understanding 3 Phase monitoring with emonTx sketch |
3 |
3 years 27 weeks ago by Guest |
3 years 27 weeks ago by Robert Wall |
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Understanding question : how to configure the new emonTH node and want I need for? |
3 |
3 years 14 weeks ago by Guest |
3 years 14 weeks ago by Guest |
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Understanding Redis, timestore und MySQL |
3 |
3 years 5 weeks ago by Guest |
3 years 4 weeks ago by Guest |
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Unix time to human readable format? |
1 |
1 year 29 weeks ago by ingcivic |
1 year 29 weeks ago by pb66 |
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Unix timestamp saving and flot graphs |
4 |
4 years 44 weeks ago by Sergegsx |
4 years 42 weeks ago by Sergegsx |
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Unused DIO ? |
4 |
3 years 18 weeks ago by warlock |
3 years 18 weeks ago by warlock |
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Unusual behaviour of utility meter |
7 |
1 year 11 weeks ago by arnoldh |
1 year 11 weeks ago by arnoldh |
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Unwanted wi-fi connections to emonpi |
0 |
1 year 16 weeks ago by Jez Wingfield |
n/a |
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update image file (dashboard) |
9 |
2 years 4 weeks ago by raspiprof |
2 years 1 week ago by pb66 |
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update to 9.3 admin page logs |
8 |
1 year 12 weeks ago by smitt1979 |
1 year 6 weeks ago by smitt1979 |
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Updating a datapoint in a feed. What are the time parameters that a function in process_processlist.php would use? |
0 |
42 weeks 4 days ago by MikeSims |
n/a |
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Use in the US |
93 |
3 years 11 weeks ago by Guest |
46 weeks 1 day ago by Robert Wall |
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Use of a pryanometer |
0 |
1 year 39 weeks ago by Guest |
n/a |
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Using 2 emontx with emonglcd for solar pv |
6 |
3 years 24 weeks ago by noworries |
3 years 24 weeks ago by calypso_rae |
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Using API Key to share dashboard |
2 |
1 year 48 weeks ago by MikeW |
1 year 48 weeks ago by MikeW |
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Using arduino as circuit breaker |
5 |
2 years 14 weeks ago by Gary_P |
2 years 13 weeks ago by Gary_P |
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Using Arduino as Phase Angle Controller |
0 |
5 years 34 weeks ago by Paul Reed |
n/a |
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Using Mosquito on another machine |
3 |
1 year 8 weeks ago by gregl |
1 year 8 weeks ago by glyn.hudson |
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using PIC microcontroller for energy monitor |
5 |
4 years 29 weeks ago by Guest |
3 years 46 weeks ago by Robert Wall |
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Using SCT013 30A by Raspberry Pi |
2 |
42 weeks 5 days ago by coskukoz |
42 weeks 5 days ago by coskukoz |
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Using software by writing data to mysql DB directly |
4 |
46 weeks 4 days ago by rjsears |
46 weeks 4 days ago by TrystanLea |
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Validation error while posting about a Forbidden error !!! |
4 |
2 years 17 weeks ago by pb66 |
2 years 17 weeks ago by pb66 |
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Values Disturbed when Laptop is Charging |
4 |
2 years 9 weeks ago by Guest |
2 years 9 weeks ago by Robert Wall |
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Values not matching with Kill-a-watt |
9 |
4 years 47 weeks ago by Guest |
4 years 45 weeks ago by Robert Wall |
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Verifying EmonTX Working |
2 |
3 years 5 days ago by danhawker |
3 years 5 days ago by ukmoose |
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View data with different users |
0 |
1 year 35 weeks ago by Kevin Copado |
n/a |
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Visualisations One day behind |
2 |
2 years 46 weeks ago by nathanmonk |
2 years 46 weeks ago by nathanmonk |
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Visualizing pulse data at less than 24 hour intervals? |
9 |
1 year 27 weeks ago by meso |
1 year 20 weeks ago by Eric_AMANN |
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Vmware image of emoncms |
0 |
4 years 16 weeks ago by Guest |
n/a |
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Voltage divider and Capacitor in the Current sensor circuit... |
7 |
1 year 2 weeks ago by energyguy |
1 year 2 weeks ago by Robert Wall |
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Voltage measurement issue |
4 |
50 weeks 4 days ago by Starbuck |
45 weeks 6 days ago by Starbuck |
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Vrms incorrect |
8 |
1 year 2 days ago by Lyuck |
1 year 13 hours ago by glyn.hudson |
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warnings when running import_full.php in Raspberry ??? |
11 |
3 years 9 weeks ago by Petrik |
3 years 6 weeks ago by AllenConquest |
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wavelengths variable? |
1 |
4 years 38 weeks ago by Guest |
4 years 38 weeks ago by Robert Wall |
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Webserver |
1 |
2 years 11 weeks ago by bramper |
2 years 11 weeks ago by Robert Wall |
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Weird current readings |
11 |
2 years 37 weeks ago by moggle_spears |
2 years 37 weeks ago by moggle_spears |
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Weird emonTx shield readings |
14 |
1 year 33 weeks ago by dimtass |
1 year 32 weeks ago by dimtass |
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wh accumulator 25kw limit |
0 |
1 year 18 weeks ago by tasminracer |
n/a |
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What do i need to measure the Power consumption ??? |
3 |
5 years 2 weeks ago by Guest |
5 years 2 weeks ago by Guest |
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What have i done wrong, +input doesn't work. |
2 |
1 year 36 weeks ago by wheelbarrowhandle |
1 year 36 weeks ago by wheelbarrowhandle |
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What is the command in 'fill' for Raw data graph in Emoncms? |
3 |
3 years 49 weeks ago by bakerA01 |
3 years 46 weeks ago by Jérôme |


Object Store v1¶
Setup¶
Rackspace setup¶
The first step is to pass in your credentials and set up a client. For Rackspace users, you will need your username and API key:
use OpenCloud\Rackspace;
$client = new Rackspace(Rackspace::US_IDENTITY_ENDPOINT, array(
'username' => '{username}',
'apiKey' => '{apiKey}',
));
OpenStack setup¶
If you’re an OpenStack user, you will also need to prove a few other configuration parameters:
$client = new OpenCloud\OpenStack('{keystoneUrl}', array(
'username' => '{username}',
'password' => '{apiKey}',
'tenantId' => '{tenantId}',
));
Object Store service¶
Now to instantiate the Object Store service:
$service = $client->objectStoreService('{catalogName}', '{region}', '{urlType}');
- {catalogName} is the name of the service as it appears in the service catalog. OpenStack users must set this value. For Rackspace users, a default will be provided if you pass in null.
- {region} is the region the service will operate in. For Rackspace users, you can select one of the following from the supported regions page.
- {urlType} is the type of URL to use, depending on which endpoints your catalog provides. If omitted, it will default to the public network.
Operations¶
- Account Details
- Containers
- Objects
- CDN Containers
- Migrating containers across regions
- Temporary URLs
- Hosting HTML sites on CDN
Glossary¶
- account
- The portion of the system designated for your use. An Object Store system is typically designed to be used by many different customers, and your user account is your portion of it.
- container
- A storage compartment that provides a way for you to organize data. A container is similar to a folder in Windows or a directory in UNIX. The primary difference between a container and these other file system concepts is that containers cannot be nested.
- cdn
- A system of distributed servers (network) that delivers web pages and other web content to a user based on the geographic locations of the user, the origin of the web page, and a content delivery server.
- metadata
- Optional information that you can assign to Cloud Files accounts, containers, and objects through the use of a metadata header.
- object
- An object (sometimes referred to as a file) is the unit of storage in an Object Store. An object is a combination of content (data) and metadata.