[WIP] Example of inverse dynamic

[ANaaim]

• Linked issue related to your pull request using '#XXX'
• Used the tag [WIP] or [RTR] for on-going changes, or for ready to review
• Did you write new tests to cover your changes?
• Did you write a proper documentation (docstrings and ReadMe)
• Please black your code black . -l120

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This change is 

[Ipuch]

Are you ok if we do the review with Anais too ?
By that time, if you want to target specific question. Write comment on lines in the Reviewable.

[Ipuch]

Reviewed 1 of 1 files at r1, all commit messages.
Reviewable status: all files reviewed, 4 unresolved discussions (waiting on @ANaaim)

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examples/inverse_dynamics/Validation_Dynamic_BioNC.py line 315 at r1 (raw file):

    from bionc.bionc_numpy.cartesian_vector import vector_projection_in_non_orthogonal_basis

    point = vector_projection_in_non_orthogonal_basis(center_of_plateform - rp_foot, u_foot, rp_foot - rd_foot, w_foot)

useless

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examples/inverse_dynamics/Validation_Dynamic_BioNC.py line 318 at r1 (raw file):

    # Projection of the force on the segment frame
    position_point_application = rp_foot - np.repeat(PF1_origin[:, np.newaxis], Qopt_sqp.shape[1], axis=1)

useless

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examples/inverse_dynamics/Validation_Dynamic_BioNC.py line 325 at r1 (raw file):

    list_external_force = ExternalForceList.empty_from_nb_segment(model.nb_segments)
    # Integration of the force in the list
    list_external_force.add_external_force(3, GRF)

class ExternalForce:
"""
This class represents an external force applied to a segment.
Attributes ---------- application_point_in_local : np.ndarray The application point of the force in the natural coordinate system of the segment external_forces : np.ndarray The external force vector in the global coordinate system (torque, force)
Methods ------- from_components(application_point_in_local, force, torque) This function creates an external force from its components. force This function returns the force vector of the external force. torque This function returns the torque vector of the external force. compute_pseudo_interpolation_matrix() This function computes the pseudo interpolation matrix of the external force. to_natural_force This function returns the external force in the natural coordinate format. """
def __init__(self, application_point_in_local: np.ndarray, external_forces: np.ndarray):
self.application_point_in_local = application_point_in_local
self.external_forces = external_forces

@classmethod  
def from\_components(cls, application\_point\_in\_local: np.ndarray, force: np.ndarray, torque: np.ndarray):  
    """  
    This function creates an external force from its components.  
    Parameters        ----------        application\_point\_in\_local : np.ndarray            The application point of the force in the natural coordinate system of the segment        force            The force vector in the global coordinate system        torque            The torque vector in the global coordinate system  
    Returns        -------        ExternalForce        """  
    return cls(application\_point\_in\_local, np.concatenate((torque, force)))  

@classmethod  
def from\_components\_in\_global(cls, application\_point\_in\_global: np.ndarray, force: np.ndarray, torque: np.ndarray, Qi):  

    return cls(application\_point\_in\_local, np.concatenate((torque, force)))

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examples/inverse_dynamics/Validation_Dynamic_BioNC.py line 331 at r1 (raw file):

        tuple_of_Q = [
            SegmentNaturalCoordinates.from_components(
                u=Qopt_sqp[i * 12 : i * 12 + 3, ind_frame],

Qopt.u
Qopt.rp
Qopt.rd
...

[Ipuch]

Okay, my implementation of External Forces is too drafty. A refactor need to be made see #112.

[Ipuch]

Helping me with #87