Reference Frame Pychrono

[Declan Mulroy]

Hello, 

I am trying to rotate a local coordinate from of a body. The code is attatched below. I am recieving an error and it is saying I am adding to much to the function SetCoord(). The error is also attatched. 

Does anyone know how I can rotatate a local frame about the y axis by a specified angle theta. 

Thank you in advanced, 

Declan Mulroy

    # Create bots

    bot = chrono.ChBody()

    bot = chrono.ChBodyEasyCylinder(diameter / 2, height, rowr)

    bot.SetPos(chrono.ChVectorD(x, y, z))

    vector=chrono.ChVectorD(0,0,0)

    my_frame = chrono.ChFrameD(vector,chrono.Q_from_AngAxis(theta, chrono.ChVectorD(0, 1, 0)))

    bot.SetCoord(my_frame)

    # rotate them

    rotation1 = chrono.ChQuaternionD()

    rotation1.Q_from_AngAxis(-theta, chrono.ChVectorD(0, 1, 0));  

    bot.SetRot(rotation1)

 ERROR I RECIEVE

TypeError: Wrong number or type of arguments for overloaded function 'ChFrameD_SetCoord'.

  Possible C/C++ prototypes are:

    chrono::ChFrame< double >::SetCoord(chrono::ChCoordsys< double > const &)

    chrono::ChFrame< double >::SetCoord(chrono::ChVector< double > const &,chrono::ChQuaternion< double > const &)

[Simone Benatti]

Hi Declan,

This happens because SetCoord expects a coordinate system (ChCoordsys) not a frame. 

(Look at possible C++ prototypes mentioned in the error)

This works:

my_CS = chrono.ChCoordsysD(vector,chrono.Q_from_AngAxis(theta, chrono.ChVectorD(0, 1, 0) ) )
bot.SetCoord(my_CS)

Simone