static_equilibrium_constraints

compas_cra.equilibrium.static_equilibrium_constraints(model, aeq, afr, p)

Create equilibrium and friction constraints.

Parameters

• model (model, optional) – Pyomo model object

• aeq (csr_matrix) – Aeq matrix for equilibrium equation.

• afr (csr_matrix) – Afr matrix for friction equation,

• p (ndarray) – External force p.

Returns

Callable, Callable – equilibrium and friction constraint functions for pyomo