补充test_mql机械节点运动学

PythonModels/systems/test_mql_mechanical.py

@@ -153,9 +153,17 @@ class TestMqlMechanicalMassState:
         return [self.velocity_m_s, self.displacement_m]
 
 
+@dataclass(frozen=True)
+class TestMqlMechanicalNodeKinematics:
+    alias: str
+    velocities_m_s: dict[int, float]
+    displacements_m: dict[int, float]
+
+
 @dataclass(frozen=True)
 class TestMqlMechanicalMassSnapshot:
     states: tuple[TestMqlMechanicalMassState, ...]
+    node_kinematics_by_alias: dict[str, TestMqlMechanicalNodeKinematics]
 
     @property
     def state_count(self) -> int:
@@ -186,7 +194,30 @@ class TestMqlMechanicalMassClosure:
             )
             for index, alias in enumerate(self.mass_aliases)
         )
-        return TestMqlMechanicalMassSnapshot(states=states)
+        return TestMqlMechanicalMassSnapshot(
+            states=states,
+            node_kinematics_by_alias=self._node_kinematics_by_alias(states),
+        )
+
+    def _node_kinematics_by_alias(
+        self,
+        states: tuple[TestMqlMechanicalMassState, ...],
+    ) -> dict[str, TestMqlMechanicalNodeKinematics]:
+        state_by_alias = {state.alias: state for state in states}
+        front = state_by_alias["mass_friction_endstops_18"]
+        rear = state_by_alias["mass_friction_endstops_19"]
+        return {
+            "dynamic_mechanical_node_alternative_2": TestMqlMechanicalNodeKinematics(
+                alias="dynamic_mechanical_node_alternative_2",
+                velocities_m_s={port: -front.velocity_m_s for port in range(1, 9)},
+                displacements_m={port: -front.displacement_m for port in range(1, 9)},
+            ),
+            "dynamic_mechanical_node_alternative_3": TestMqlMechanicalNodeKinematics(
+                alias="dynamic_mechanical_node_alternative_3",
+                velocities_m_s={port: rear.velocity_m_s for port in range(1, 9)},
+                displacements_m={port: rear.displacement_m for port in range(1, 9)},
+            ),
+        }
 
     def rhs(
         self,