本文整理汇总了Python中sympy.physics.vector.dynamicsymbols函数的典型用法代码示例。如果您正苦于以下问题：Python dynamicsymbols函数的具体用法？Python dynamicsymbols怎么用？Python dynamicsymbols使用的例子？那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了dynamicsymbols函数的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的Python代码示例。
示例1: test_point_funcs
def test_point_funcs():
q, q2 = dynamicsymbols("q q2")
qd, q2d = dynamicsymbols("q q2", 1)
qdd, q2dd = dynamicsymbols("q q2", 2)
N = ReferenceFrame("N")
B = ReferenceFrame("B")
B.set_ang_vel(N, 5 * B.y)
O = Point("O")
P = O.locatenew("P", q * B.x)
assert P.pos_from(O) == q * B.x
P.set_vel(B, qd * B.x + q2d * B.y)
assert P.vel(B) == qd * B.x + q2d * B.y
O.set_vel(N, 0)
assert O.vel(N) == 0
assert P.a1pt_theory(O, N, B) == ((-25 * q + qdd) * B.x + (q2dd) * B.y + (-10 * qd) * B.z)
B = N.orientnew("B", "Axis", [q, N.z])
O = Point("O")
P = O.locatenew("P", 10 * B.x)
O.set_vel(N, 5 * N.x)
assert O.vel(N) == 5 * N.x
assert P.a2pt_theory(O, N, B) == (-10 * qd ** 2) * B.x + (10 * qdd) * B.y
B.set_ang_vel(N, 5 * B.y)
O = Point("O")
P = O.locatenew("P", q * B.x)
P.set_vel(B, qd * B.x + q2d * B.y)
O.set_vel(N, 0)
assert P.v1pt_theory(O, N, B) == qd * B.x + q2d * B.y - 5 * q * B.z
开发者ID:guanlongtianzi，项目名称:sympy，代码行数:29，代码来源:test_point.py
示例2: __init__
def __init__(self, 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):
"""Please read the online documentation. """
if not q_ind:
q_ind = [dynamicsymbols('dummy_q')]
kd_eqs = [dynamicsymbols('dummy_kd')]
if not isinstance(frame, ReferenceFrame):
raise TypeError('An intertial ReferenceFrame must be supplied')
self._inertial = frame
self._fr = None
self._frstar = None
self._forcelist = None
self._bodylist = None
self._initialize_vectors(q_ind, q_dependent, u_ind, u_dependent,
u_auxiliary)
self._initialize_kindiffeq_matrices(kd_eqs)
self._initialize_constraint_matrices(configuration_constraints,
velocity_constraints, acceleration_constraints)
开发者ID:Lenqth，项目名称:sympy，代码行数:25，代码来源:kane.py
示例3: test_point_funcs
def test_point_funcs():
q, q2 = dynamicsymbols('q q2')
qd, q2d = dynamicsymbols('q q2', 1)
qdd, q2dd = dynamicsymbols('q q2', 2)
N = ReferenceFrame('N')
B = ReferenceFrame('B')
B.set_ang_vel(N, 5 * B.y)
O = Point('O')
P = O.locatenew('P', q * B.x)
assert P.pos_from(O) == q * B.x
P.set_vel(B, qd * B.x + q2d * B.y)
assert P.vel(B) == qd * B.x + q2d * B.y
O.set_vel(N, 0)
assert O.vel(N) == 0
assert P.a1pt_theory(O, N, B) == ((-25 * q + qdd) * B.x + (q2dd) * B.y +
(-10 * qd) * B.z)
B = N.orientnew('B', 'Axis', [q, N.z])
O = Point('O')
P = O.locatenew('P', 10 * B.x)
O.set_vel(N, 5 * N.x)
assert O.vel(N) == 5 * N.x
assert P.a2pt_theory(O, N, B) == (-10 * qd**2) * B.x + (10 * qdd) * B.y
B.set_ang_vel(N, 5 * B.y)
O = Point('O')
P = O.locatenew('P', q * B.x)
P.set_vel(B, qd * B.x + q2d * B.y)
O.set_vel(N, 0)
assert P.v1pt_theory(O, N, B) == qd * B.x + q2d * B.y - 5 * q * B.z
开发者ID:AStorus，项目名称:sympy，代码行数:30，代码来源:test_point.py
示例4: test_vector_latex
def test_vector_latex():
a, b, c, d, omega = symbols('a, b, c, d, omega')
v = (a ** 2 + b / c) * A.x + sqrt(d) * A.y + cos(omega) * A.z
assert v._latex() == (r'(a^{2} + \frac{b}{c})\mathbf{\hat{a}_x} + '
r'\sqrt{d}\mathbf{\hat{a}_y} + '
r'\operatorname{cos}\left(\omega\right)'
r'\mathbf{\hat{a}_z}')
theta, omega, alpha, q = dynamicsymbols('theta, omega, alpha, q')
v = theta * A.x + omega * omega * A.y + (q * alpha) * A.z
assert v._latex() == (r'\theta\mathbf{\hat{a}_x} + '
r'\omega^{2}\mathbf{\hat{a}_y} + '
r'\alpha q\mathbf{\hat{a}_z}')
phi1, phi2, phi3 = dynamicsymbols('phi1, phi2, phi3')
theta1, theta2, theta3 = symbols('theta1, theta2, theta3')
v = (sin(theta1) * A.x +
cos(phi1) * cos(phi2) * A.y +
cos(theta1 + phi3) * A.z)
assert v._latex() == (r'\operatorname{sin}\left(\theta_{1}\right)'
r'\mathbf{\hat{a}_x} + \operatorname{cos}'
r'\left(\phi_{1}\right) \operatorname{cos}'
r'\left(\phi_{2}\right)\mathbf{\hat{a}_y} + '
r'\operatorname{cos}\left(\theta_{1} + '
r'\phi_{3}\right)\mathbf{\hat{a}_z}')
N = ReferenceFrame('N')
a, b, c, d, omega = symbols('a, b, c, d, omega')
v = (a ** 2 + b / c) * N.x + sqrt(d) * N.y + cos(omega) * N.z
expected = (r'(a^{2} + \frac{b}{c})\mathbf{\hat{n}_x} + '
r'\sqrt{d}\mathbf{\hat{n}_y} + '
r'\operatorname{cos}\left(\omega\right)'
r'\mathbf{\hat{n}_z}')
assert v._latex() == expected
lp = VectorLatexPrinter()
assert lp.doprint(v) == expected
# Try custom unit vectors.
N = ReferenceFrame('N', latexs=(r'\hat{i}', r'\hat{j}', r'\hat{k}'))
v = (a ** 2 + b / c) * N.x + sqrt(d) * N.y + cos(omega) * N.z
expected = (r'(a^{2} + \frac{b}{c})\hat{i} + '
r'\sqrt{d}\hat{j} + '
r'\operatorname{cos}\left(\omega\right)\hat{k}')
assert v._latex() == expected
开发者ID:cklb，项目名称:sympy，代码行数:58，代码来源:test_printing.py
示例5: test_point_a2pt_theorys
def test_point_a2pt_theorys():
q = dynamicsymbols("q")
qd = dynamicsymbols("q", 1)
qdd = dynamicsymbols("q", 2)
N = ReferenceFrame("N")
B = N.orientnew("B", "Axis", [q, N.z])
O = Point("O")
P = O.locatenew("P", 0)
O.set_vel(N, 0)
assert P.a2pt_theory(O, N, B) == 0
P.set_pos(O, B.x)
assert P.a2pt_theory(O, N, B) == (-qd ** 2) * B.x + (qdd) * B.y
开发者ID:guanlongtianzi，项目名称:sympy，代码行数:12，代码来源:test_point.py
示例6: test_point_a2pt_theorys
def test_point_a2pt_theorys():
q = dynamicsymbols('q')
qd = dynamicsymbols('q', 1)
qdd = dynamicsymbols('q', 2)
N = ReferenceFrame('N')
B = N.orientnew('B', 'Axis', [q, N.z])
O = Point('O')
P = O.locatenew('P', 0)
O.set_vel(N, 0)
assert P.a2pt_theory(O, N, B) == 0
P.set_pos(O, B.x)
assert P.a2pt_theory(O, N, B) == (-qd**2) * B.x + (qdd) * B.y
开发者ID:AStorus，项目名称:sympy，代码行数:12，代码来源:test_point.py
示例7: test_coordinate_vars
def test_coordinate_vars():
"""Tests the coordinate variables functionality"""
A = ReferenceFrame('A')
assert CoordinateSym('Ax', A, 0) == A[0]
assert CoordinateSym('Ax', A, 1) == A[1]
assert CoordinateSym('Ax', A, 2) == A[2]
raises(ValueError, lambda: CoordinateSym('Ax', A, 3))
q = dynamicsymbols('q')
qd = dynamicsymbols('q', 1)
assert isinstance(A[0], CoordinateSym) and \
isinstance(A[0], CoordinateSym) and \
isinstance(A[0], CoordinateSym)
assert A.variable_map(A) == {A[0]:A[0], A[1]:A[1], A[2]:A[2]}
assert A[0].frame == A
B = A.orientnew('B', 'Axis', [q, A.z])
assert B.variable_map(A) == {B[2]: A[2], B[1]: -A[0]*sin(q) + A[1]*cos(q),
B[0]: A[0]*cos(q) + A[1]*sin(q)}
assert A.variable_map(B) == {A[0]: B[0]*cos(q) - B[1]*sin(q),
A[1]: B[0]*sin(q) + B[1]*cos(q), A[2]: B[2]}
assert time_derivative(B[0], A) == -A[0]*sin(q)*qd + A[1]*cos(q)*qd
assert time_derivative(B[1], A) == -A[0]*cos(q)*qd - A[1]*sin(q)*qd
assert time_derivative(B[2], A) == 0
assert express(B[0], A, variables=True) == A[0]*cos(q) + A[1]*sin(q)
assert express(B[1], A, variables=True) == -A[0]*sin(q) + A[1]*cos(q)
assert express(B[2], A, variables=True) == A[2]
assert time_derivative(A[0]*A.x + A[1]*A.y + A[2]*A.z, B) == A[1]*qd*A.x - A[0]*qd*A.y
assert time_derivative(B[0]*B.x + B[1]*B.y + B[2]*B.z, A) == - B[1]*qd*B.x + B[0]*qd*B.y
assert express(B[0]*B[1]*B[2], A, variables=True) == \
A[2]*(-A[0]*sin(q) + A[1]*cos(q))*(A[0]*cos(q) + A[1]*sin(q))
assert (time_derivative(B[0]*B[1]*B[2], A) -
(A[2]*(-A[0]**2*cos(2*q) -
2*A[0]*A[1]*sin(2*q) +
A[1]**2*cos(2*q))*qd)).trigsimp() == 0
assert express(B[0]*B.x + B[1]*B.y + B[2]*B.z, A) == \
(B[0]*cos(q) - B[1]*sin(q))*A.x + (B[0]*sin(q) + \
B[1]*cos(q))*A.y + B[2]*A.z
assert express(B[0]*B.x + B[1]*B.y + B[2]*B.z, A, variables=True) == \
A[0]*A.x + A[1]*A.y + A[2]*A.z
assert express(A[0]*A.x + A[1]*A.y + A[2]*A.z, B) == \
(A[0]*cos(q) + A[1]*sin(q))*B.x + \
(-A[0]*sin(q) + A[1]*cos(q))*B.y + A[2]*B.z
assert express(A[0]*A.x + A[1]*A.y + A[2]*A.z, B, variables=True) == \
B[0]*B.x + B[1]*B.y + B[2]*B.z
N = B.orientnew('N', 'Axis', [-q, B.z])
assert N.variable_map(A) == {N[0]: A[0], N[2]: A[2], N[1]: A[1]}
C = A.orientnew('C', 'Axis', [q, A.x + A.y + A.z])
mapping = A.variable_map(C)
assert mapping[A[0]] == 2*C[0]*cos(q)/3 + C[0]/3 - 2*C[1]*sin(q + pi/6)/3 +\
C[1]/3 - 2*C[2]*cos(q + pi/3)/3 + C[2]/3
assert mapping[A[1]] == -2*C[0]*cos(q + pi/3)/3 + \
C[0]/3 + 2*C[1]*cos(q)/3 + C[1]/3 - 2*C[2]*sin(q + pi/6)/3 + C[2]/3
assert mapping[A[2]] == -2*C[0]*sin(q + pi/6)/3 + C[0]/3 - \
2*C[1]*cos(q + pi/3)/3 + C[1]/3 + 2*C[2]*cos(q)/3 + C[2]/3
开发者ID:asmeurer，项目名称:sympy，代码行数:53，代码来源:test_frame.py
示例8: test_dyadic
def test_dyadic():
d1 = A.x | A.x
d2 = A.y | A.y
d3 = A.x | A.y
assert d1 * 0 == 0
assert d1 != 0
assert d1 * 2 == 2 * A.x | A.x
assert d1 / 2. == 0.5 * d1
assert d1 & (0 * d1) == 0
assert d1 & d2 == 0
assert d1 & A.x == A.x
assert d1 ^ A.x == 0
assert d1 ^ A.y == A.x | A.z
assert d1 ^ A.z == - A.x | A.y
assert d2 ^ A.x == - A.y | A.z
assert A.x ^ d1 == 0
assert A.y ^ d1 == - A.z | A.x
assert A.z ^ d1 == A.y | A.x
assert A.x & d1 == A.x
assert A.y & d1 == 0
assert A.y & d2 == A.y
assert d1 & d3 == A.x | A.y
assert d3 & d1 == 0
assert d1.dt(A) == 0
q = dynamicsymbols('q')
qd = dynamicsymbols('q', 1)
B = A.orientnew('B', 'Axis', [q, A.z])
assert d1.express(B) == d1.express(B, B)
assert d1.express(B) == ((cos(q)**2) * (B.x | B.x) + (-sin(q) * cos(q)) *
(B.x | B.y) + (-sin(q) * cos(q)) * (B.y | B.x) + (sin(q)**2) *
(B.y | B.y))
assert d1.express(B, A) == (cos(q)) * (B.x | A.x) + (-sin(q)) * (B.y | A.x)
assert d1.express(A, B) == (cos(q)) * (A.x | B.x) + (-sin(q)) * (A.x | B.y)
assert d1.dt(B) == (-qd) * (A.y | A.x) + (-qd) * (A.x | A.y)
assert d1.to_matrix(A) == Matrix([[1, 0, 0], [0, 0, 0], [0, 0, 0]])
assert d1.to_matrix(A, B) == Matrix([[cos(q), -sin(q), 0],
[0, 0, 0],
[0, 0, 0]])
assert d3.to_matrix(A) == Matrix([[0, 1, 0], [0, 0, 0], [0, 0, 0]])
a, b, c, d, e, f = symbols('a, b, c, d, e, f')
v1 = a * A.x + b * A.y + c * A.z
v2 = d * A.x + e * A.y + f * A.z
d4 = v1.outer(v2)
assert d4.to_matrix(A) == Matrix([[a * d, a * e, a * f],
[b * d, b * e, b * f],
[c * d, c * e, c * f]])
d5 = v1.outer(v1)
C = A.orientnew('C', 'Axis', [q, A.x])
for expected, actual in zip(C.dcm(A) * d5.to_matrix(A) * C.dcm(A).T,
d5.to_matrix(C)):
assert (expected - actual).simplify() == 0
开发者ID:A-turing-machine，项目名称:sympy，代码行数:52，代码来源:test_dyadic.py
示例9: test_point_v2pt_theorys
def test_point_v2pt_theorys():
q = dynamicsymbols("q")
qd = dynamicsymbols("q", 1)
N = ReferenceFrame("N")
B = N.orientnew("B", "Axis", [q, N.z])
O = Point("O")
P = O.locatenew("P", 0)
O.set_vel(N, 0)
assert P.v2pt_theory(O, N, B) == 0
P = O.locatenew("P", B.x)
assert P.v2pt_theory(O, N, B) == (qd * B.z ^ B.x)
O.set_vel(N, N.x)
assert P.v2pt_theory(O, N, B) == N.x + qd * B.y
开发者ID:guanlongtianzi，项目名称:sympy，代码行数:13，代码来源:test_point.py
示例10: test_w_diff_dcm
def test_w_diff_dcm():
a = ReferenceFrame('a')
b = ReferenceFrame('b')
c11, c12, c13, c21, c22, c23, c31, c32, c33 = dynamicsymbols('c11 c12 c13 c21 c22 c23 c31 c32 c33')
c11d, c12d, c13d, c21d, c22d, c23d, c31d, c32d, c33d = dynamicsymbols('c11 c12 c13 c21 c22 c23 c31 c32 c33', 1)
b.orient(a, 'DCM', Matrix([c11,c12,c13,c21,c22,c23,c31,c32,c33]).reshape(3, 3))
b1a=(b.x).express(a)
b2a=(b.y).express(a)
b3a=(b.z).express(a)
b.set_ang_vel(a, b.x*(dot((b3a).dt(a), b.y)) + b.y*(dot((b1a).dt(a), b.z)) +
b.z*(dot((b2a).dt(a), b.x)))
expr = ((c12*c13d + c22*c23d + c32*c33d)*b.x + (c13*c11d + c23*c21d + c33*c31d)*b.y +
(c11*c12d + c21*c22d + c31*c32d)*b.z)
assert b.ang_vel_in(a) - expr == 0
开发者ID:asmeurer，项目名称:sympy，代码行数:14，代码来源:test_frame.py
示例11: test_orientnew_respects_input_latexs
def test_orientnew_respects_input_latexs():
N = ReferenceFrame('N')
q1 = dynamicsymbols('q1')
A = N.orientnew('a', 'Axis', [q1, N.z])
#build default and alternate latex_vecs:
def_latex_vecs = [(r"\mathbf{\hat{%s}_%s}" % (A.name.lower(),
A.indices[0])), (r"\mathbf{\hat{%s}_%s}" %
(A.name.lower(), A.indices[1])),
(r"\mathbf{\hat{%s}_%s}" % (A.name.lower(),
A.indices[2]))]
name = 'b'
indices = [x+'1' for x in N.indices]
new_latex_vecs = [(r"\mathbf{\hat{%s}_{%s}}" % (name.lower(),
indices[0])), (r"\mathbf{\hat{%s}_{%s}}" %
(name.lower(), indices[1])),
(r"\mathbf{\hat{%s}_{%s}}" % (name.lower(),
indices[2]))]
B = N.orientnew(name, 'Axis', [q1, N.z], latexs=new_latex_vecs)
assert A.latex_vecs == def_latex_vecs
assert B.latex_vecs == new_latex_vecs
assert B.indices != indices
开发者ID:asmeurer，项目名称:sympy，代码行数:25，代码来源:test_frame.py
示例12: test_point_a1pt_theorys
def test_point_a1pt_theorys():
q, q2 = dynamicsymbols("q q2")
qd, q2d = dynamicsymbols("q q2", 1)
qdd, q2dd = dynamicsymbols("q q2", 2)
N = ReferenceFrame("N")
B = ReferenceFrame("B")
B.set_ang_vel(N, qd * B.z)
O = Point("O")
P = O.locatenew("P", B.x)
P.set_vel(B, 0)
O.set_vel(N, 0)
assert P.a1pt_theory(O, N, B) == -(qd ** 2) * B.x + qdd * B.y
P.set_vel(B, q2d * B.z)
assert P.a1pt_theory(O, N, B) == -(qd ** 2) * B.x + qdd * B.y + q2dd * B.z
O.set_vel(N, q2d * B.x)
assert P.a1pt_theory(O, N, B) == ((q2dd - qd ** 2) * B.x + (q2d * qd + qdd) * B.y + q2dd * B.z)
开发者ID:guanlongtianzi，项目名称:sympy，代码行数:16，代码来源:test_point.py
示例13: test_point_v1pt_theorys
def test_point_v1pt_theorys():
q, q2 = dynamicsymbols('q q2')
qd, q2d = dynamicsymbols('q q2', 1)
qdd, q2dd = dynamicsymbols('q q2', 2)
N = ReferenceFrame('N')
B = ReferenceFrame('B')
B.set_ang_vel(N, qd * B.z)
O = Point('O')
P = O.locatenew('P', B.x)
P.set_vel(B, 0)
O.set_vel(N, 0)
assert P.v1pt_theory(O, N, B) == qd * B.y
O.set_vel(N, N.x)
assert P.v1pt_theory(O, N, B) == N.x + qd * B.y
P.set_vel(B, B.z)
assert P.v1pt_theory(O, N, B) == B.z + N.x + qd * B.y
开发者ID:AStorus，项目名称:sympy，代码行数:16，代码来源:test_point.py
示例14: test_dcm
def test_dcm():
q1, q2, q3, q4 = dynamicsymbols('q1 q2 q3 q4')
N = ReferenceFrame('N')
A = N.orientnew('A', 'Axis', [q1, N.z])
B = A.orientnew('B', 'Axis', [q2, A.x])
C = B.orientnew('C', 'Axis', [q3, B.y])
D = N.orientnew('D', 'Axis', [q4, N.y])
E = N.orientnew('E', 'Space', [q1, q2, q3], '123')
assert N.dcm(C) == Matrix([
[- sin(q1) * sin(q2) * sin(q3) + cos(q1) * cos(q3), - sin(q1) *
cos(q2), sin(q1) * sin(q2) * cos(q3) + sin(q3) * cos(q1)], [sin(q1) *
cos(q3) + sin(q2) * sin(q3) * cos(q1), cos(q1) * cos(q2), sin(q1) *
sin(q3) - sin(q2) * cos(q1) * cos(q3)], [- sin(q3) * cos(q2), sin(q2),
cos(q2) * cos(q3)]])
# This is a little touchy. Is it ok to use simplify in assert?
test_mat = D.dcm(C) - Matrix(
[[cos(q1) * cos(q3) * cos(q4) - sin(q3) * (- sin(q4) * cos(q2) +
sin(q1) * sin(q2) * cos(q4)), - sin(q2) * sin(q4) - sin(q1) *
cos(q2) * cos(q4), sin(q3) * cos(q1) * cos(q4) + cos(q3) * (- sin(q4) *
cos(q2) + sin(q1) * sin(q2) * cos(q4))], [sin(q1) * cos(q3) +
sin(q2) * sin(q3) * cos(q1), cos(q1) * cos(q2), sin(q1) * sin(q3) -
sin(q2) * cos(q1) * cos(q3)], [sin(q4) * cos(q1) * cos(q3) -
sin(q3) * (cos(q2) * cos(q4) + sin(q1) * sin(q2) * sin(q4)), sin(q2) *
cos(q4) - sin(q1) * sin(q4) * cos(q2), sin(q3) * sin(q4) * cos(q1) +
cos(q3) * (cos(q2) * cos(q4) + sin(q1) * sin(q2) * sin(q4))]])
assert test_mat.expand() == zeros(3, 3)
assert E.dcm(N) == Matrix(
[[cos(q2)*cos(q3), sin(q3)*cos(q2), -sin(q2)],
[sin(q1)*sin(q2)*cos(q3) - sin(q3)*cos(q1), sin(q1)*sin(q2)*sin(q3) +
cos(q1)*cos(q3), sin(q1)*cos(q2)], [sin(q1)*sin(q3) +
sin(q2)*cos(q1)*cos(q3), - sin(q1)*cos(q3) + sin(q2)*sin(q3)*cos(q1),
cos(q1)*cos(q2)]])
开发者ID:jbm950，项目名称:sympy，代码行数:32，代码来源:test_frame.py
示例15: form_lagranges_equations
def form_lagranges_equations(self):
"""Method to form Lagrange's equations of motion.
Returns a vector of equations of motion using Lagrange's equations of
the second kind.
"""
qds = self._qdots
qdd_zero = dict((i, 0) for i in self._qdoubledots)
n = len(self.q)
# Internally we represent the EOM as four terms:
# EOM = term1 - term2 - term3 - term4 = 0
# First term
self._term1 = self._L.jacobian(qds)
self._term1 = self._term1.diff(dynamicsymbols._t).T
# Second term
self._term2 = self._L.jacobian(self.q).T
# Third term
if self.coneqs:
coneqs = self.coneqs
m = len(coneqs)
# Creating the multipliers
self.lam_vec = Matrix(dynamicsymbols('lam1:' + str(m + 1)))
self.lam_coeffs = -coneqs.jacobian(qds)
self._term3 = self.lam_coeffs.T * self.lam_vec
# Extracting the coeffecients of the qdds from the diff coneqs
diffconeqs = coneqs.diff(dynamicsymbols._t)
self._m_cd = diffconeqs.jacobian(self._qdoubl
开发者ID:sumitbh250，项目名称:sympy，代码行数:32，代码来源:lagrange.py
示例16: test_point_a1pt_theorys
def test_point_a1pt_theorys():
q, q2 = dynamicsymbols('q q2')
qd, q2d = dynamicsymbols('q q2', 1)
qdd, q2dd = dynamicsymbols('q q2', 2)
N = ReferenceFrame('N')
B = ReferenceFrame('B')
B.set_ang_vel(N, qd * B.z)
O = Point('O')
P = O.locatenew('P', B.x)
P.set_vel(B, 0)
O.set_vel(N, 0)
assert P.a1pt_theory(O, N, B) == -(qd**2) * B.x + qdd * B.y
P.set_vel(B, q2d * B.z)
assert P.a1pt_theory(O, N, B) == -(qd**2) * B.x + qdd * B.y + q2dd * B.z
O.set_vel(N, q2d * B.x)
assert P.a1pt_theory(O, N, B) == ((q2dd - qd**2) * B.x + (q2d * qd + qdd) * B.y +
q2dd * B.z)
开发者ID:AStorus，项目名称:sympy，代码行数:17，代码来源:test_point.py
示例17: form_lagranges_equations
def form_lagranges_equations(self):
"""Method to form Lagrange's equations of motion.
Returns a vector of equations of motion using Lagrange's equations of
the second kind.
"""
qds = self._qdots
qdd_zero = dict((i, 0) for i in self._qdoubledots)
n = len(self.q)
# Internally we represent the EOM as four terms:
# EOM = term1 - term2 - term3 - term4 = 0
# First term
self._term1 = self._L.jacobian(qds)
self._term1 = self._term1.diff(dynamicsymbols._t).T
# Second term
self._term2 = self._L.jacobian(self.q).T
# Third term
if self.coneqs:
coneqs = self.coneqs
m = len(coneqs)
# Creating the multipliers
self.lam_vec = Matrix(dynamicsymbols('lam1:' + str(m + 1)))
self.lam_coeffs = -coneqs.jacobian(qds)
self._term3 = self.lam_coeffs.T * self.lam_vec
# Extracting the coeffecients of the qdds from the diff coneqs
diffconeqs = coneqs.diff(dynamicsymbols._t)
self._m_cd = diffconeqs.jacobian(self._qdoubledots)
# The remaining terms i.e. the 'forcing' terms in diff coneqs
self._f_cd = -diffconeqs.subs(qdd_zero)
else:
self._term3 = zeros(n, 1)
# Fourth term
if self.forcelist:
N = self.inertial
self._term4 = zeros(n, 1)
flist = zip(*_f_list_parser(self.forcelist, N))
for i, qd in enumerate(qds):
for obj, force in self.forcelist:
self._term4[i] = sum(v.diff(qd, N) & f for (v, f) in flist)
else:
self._term4 = zeros(n, 1)
# Form the dynamic mass and forcing matrices
without_lam = self._term1 - self._term2 - self._term4
self._m_d = without_lam.jacobian(self._qdoubledots)
self._f_d = -without_lam.subs(qdd_zero)
# Form the EOM
self.eom = without_lam - self._term3
return self.eom
开发者ID:AdrianPotter，项目名称:sympy，代码行数:56，代码来源:lagrange.py
示例18: test_orientnew_respects_input_indices
def test_orientnew_respects_input_indices():
N = ReferenceFrame('N')
q1 = dynamicsymbols('q1')
A = N.orientnew('a', 'Axis', [q1, N.z])
#modify default indices:
minds = [x+'1' for x in N.indices]
B = N.orientnew('b', 'Axis', [q1, N.z], indices=minds)
assert N.indices == A.indices
assert B.indices == minds
开发者ID:asmeurer，项目名称:sympy，代码行数:10，代码来源:test_frame.py
示例19: test_vector_latex_with_functions
def test_vector_latex_with_functions():
# TODO : Get functions printing correctly.
N = ReferenceFrame('N')
omega = dynamicsymbols('omega')
v = omega.diff() * N.x
assert v._latex() == r'\dot{\omega}\mathbf{\hat{n}_x}'
开发者ID:JoelBondurant，项目名称:sympy，代码行数:10，代码来源:test_printing.py
示例20: test_point_pos
def test_point_pos():
q = dynamicsymbols('q')
N = ReferenceFrame('N')
B = N.orientnew('B', 'Axis', [q, N.z])
O = Point('O')
P = O.locatenew('P', 10 * N.x + 5 * B.x)
assert P.pos_from(O) == 10 * N.x + 5 * B.x
Q = P.locatenew('Q', 10 * N.y + 5 * B.y)
assert Q.pos_from(P) == 10 * N.y + 5 * B.y
assert Q.pos_from(O) == 10 * N.x + 10 * N.y + 5 * B.x + 5 * B.y
assert O.pos_from(Q) == -10 * N.x - 10 * N.y - 5 * B.x - 5 * B.y
开发者ID:AStorus，项目名称:sympy，代码行数:11，代码来源:test_point.py
注：本文中的sympy.physics.vector.dynamicsymbols函数示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。 |
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