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- import sympy.physics.mechanics as _me
- import sympy as _sm
- import math as m
- import numpy as _np
- frame_a = _me.ReferenceFrame('a')
- frame_b = _me.ReferenceFrame('b')
- q1, q2, q3 = _me.dynamicsymbols('q1 q2 q3')
- frame_b.orient(frame_a, 'Axis', [q3, frame_a.x])
- dcm = frame_a.dcm(frame_b)
- m = dcm*3-frame_a.dcm(frame_b)
- r = _me.dynamicsymbols('r')
- circle_area = _sm.pi*r**2
- u, a = _me.dynamicsymbols('u a')
- x, y = _me.dynamicsymbols('x y')
- s = u*_me.dynamicsymbols._t-1/2*a*_me.dynamicsymbols._t**2
- expr1 = 2*a*0.5-1.25+0.25
- expr2 = -1*x**2+y**2+0.25*(x+y)**2
- expr3 = 0.5*10**(-10)
- dyadic = _me.outer(frame_a.x, frame_a.x)+_me.outer(frame_a.y, frame_a.y)+_me.outer(frame_a.z, frame_a.z)
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