7 from sympy.utilities.lambdify import lambdify, implemented_function
9 r, theta, s, la, mu, kappa = symbols('r theta s lambda mu kappa')
11 # start original formulation
15 if not dbg_enabled(): return
19 if not dbg_enabled(): return
21 print('\n ' + vn + '\n')
39 p_rightvars = p_start.subs( theta, s/r ).subs( r, 1/la )
42 global p_dirn_rightvars
43 p_dirn_rightvars = diff(p_rightvars, s)
44 dbg('p_dirn_rightvars')
49 p_nosing = (p_rightvars
50 .replace( 1-cos(zeta) , 2*sin(zeta/2)**2 )
51 .replace( sin(zeta)**2 , zeta*sinc(zeta)*sin(zeta) )
53 p_nosing[1] = (p_nosing[1]
54 .replace( sin(zeta) , zeta * sinc(zeta) )
62 global q_owncoords, q_dirn_owncoords
63 q_owncoords = p_nosing.replace(s,t).replace(la,-la)
64 q_dirn_owncoords = p_dirn_rightvars.replace(s,t).replace(la,-la)
66 dbg('q_owncoords','q_dirn_owncoords')
67 dbg('q_owncoords.replace(t,0)','q_dirn_owncoords.replace(t,0)')
69 global p2q_translate, p2q_rotate
70 p2q_translate = p_nosing
71 #p2q_rotate_2d = Matrix([ p_dirn_rightvars[0:2],
74 #p2q_rotate[0:2, 0] = Matrix([ p_dirn_rightvars[1], -p_dirn_rightvars[0] ])
75 #p2q_rotate[0:2, 1] = p_dirn_rightvars[0:2]
77 p2q_rotate = Matrix([[ cos(theta), sin(theta), 0 ],
78 [ -sin(theta), cos(theta), 0 ],
79 [ 0 , 0, 1 ]]).subs(theta,la*s)
80 #p2q_rotate.add_col([0,0])
81 #p2q_rotate.add_row([0,0,1])
85 global q_dirn_maincoords, q_maincoords
86 q_dirn_maincoords = p2q_rotate * q_dirn_owncoords;
87 q_maincoords = p2q_rotate * q_owncoords + p2q_translate
89 dbg('diff(p_dirn_rightvars,s)')
90 dbg('diff(q_dirn_maincoords,t)')
91 dbg('diff(q_dirn_maincoords,t).replace(t,0)')
93 assert(Eq(p2q_rotate * Matrix([0,1,mu]), p_dirn_rightvars))
95 #for v in 's','t','la','mu':
96 # dbg('diff(q_maincoords,%s)' % v)
98 #print('\n eye3 subs etc.\n')
99 #dbg('''Eq(eye(3) * Matrix([1,0,mu]),
100 # p_dirn_rightvars .cross(Matrix([0,0,1]) .subs(s,0)))''')
102 #dbg('''Eq(p2q_rotate * Matrix([1,0,mu]),
103 # p_dirn_rightvars .cross(Matrix([0,0,1])))''')
105 #eq = Eq(qmat * q_dirn_owncoords_0, p_dirn_rightvars)
110 dbg('q_maincoords.replace(t,0)','q_dirn_maincoords.replace(t,0)')
112 dbg('q_maincoords','q_dirn_maincoords')
114 global sinof_mu, cosof_mu
115 sinof_mu = sin(atan(mu))
116 cosof_mu = cos(atan(mu))
118 dbg('cosof_mu','sinof_mu')
120 o2p_rotate1 = Matrix([[ 1, 0, 0 ],
121 [ 0, cosof_mu, +sinof_mu ],
122 [ 0, -sinof_mu, cosof_mu ]])
124 global check_dirn_p_s0
125 check_dirn_p_s0 = o2p_rotate1 * p_dirn_rightvars.replace(s,0)
126 check_dirn_p_s0.simplify()
127 dbg('check_dirn_p_s0')
129 o2p_rotate2 = Matrix([[ cos(kappa), 0, -sin(kappa) ],
131 [ +sin(kappa), 0, cos(kappa) ]])
133 p_dirn_orgcoords = o2p_rotate2 * o2p_rotate1 * p_dirn_rightvars
135 check_dirn_p_s0 = p_dirn_orgcoords.replace(s,0)
136 check_dirn_p_s0.simplify()
137 dbg('check_dirn_p_s0')
139 global check_accel_p_s0
140 check_accel_p_s0 = diff(p_dirn_orgcoords,s).replace(s,0)
141 check_accel_p_s0.simplify()
142 dbg('check_accel_p_s0')
144 global q_dirn_orgcoords, q_orgcoords
145 q_dirn_orgcoords = o2p_rotate2 * o2p_rotate1 * q_dirn_maincoords;
146 q_orgcoords = o2p_rotate2 * o2p_rotate1 * q_maincoords;
147 dbg('q_orgcoords','q_dirn_orgcoords')
150 sh, th = symbols('alpha beta')
152 global q_dirn_sqparm, q_sqparm
153 q_dirn_sqparm = q_dirn_orgcoords.replace(s, sh**2).replace(t, th**2)
154 q_sqparm = q_orgcoords .replace(s, sh**2).replace(t, th**2)
156 dprint('----------------------------------------')
157 dbg('q_sqparm', 'q_dirn_sqparm')
158 dprint('----------------------------------------')
159 for v in 'sh','th','la','mu':
160 dbg('diff(q_sqparm,%s)' % v)
161 dbg('diff(q_dirn_sqparm,%s)' % v)
162 dprint('----------------------------------------')
164 gamma = symbols('gamma')
166 q_dirn_dirnscaled = q_dirn_sqparm * gamma
168 global result_dirnscaled
169 result_dirnscaled = q_sqparm.col_join(q_dirn_dirnscaled)
170 dbg('result_dirnscaled')
174 params = ('sh','th','la','mu','gamma','kappa')
176 def ourccode(*a, **kw):
177 return ccode(*a, user_functions={'sinc':'sinc'}, **kw)
183 for l in s.split('\n'):
186 def cse_prep_cprint(v, tmp_prefix):
187 # => v, but also having cprint'd the common subexpression assignments
188 sym_iter = map((lambda i: symbols('%s%d' % (tmp_prefix,i))),
190 (defs, vs) = cse(v, symbols=sym_iter)
191 for defname, defval in defs:
192 cprint('double '+ourccode(defval, assign_to=defname))
195 def cassign(v, assign_to, tmp_prefix):
196 v = cse_prep_cprint(v, tmp_prefix)
197 cprint(ourccode(v, assign_to=assign_to))
199 def gen_diff(current, smalls):
202 j = zeros(len(params),0)
206 d = diff(current, paramv)
210 j = cse_prep_cprint(j, 'jtmp')
211 for ix in range(0, j.cols):
212 cprint(ourccode(j.col(ix), 'J_COL'))
213 cprint('J_END_COL(%d)' % ix)
217 cprint('if (!IS_SMALL(' + ourccode(small) + ')) {')
218 gen_diff(current, smalls)
219 cprint('} else { /* %s small */' % small)
220 gen_diff(current.replace(
222 1 - small*small/factorial(3) - small**4/factorial(5),
226 cprint('} /* %s small */' % small)
229 cprintraw('// AUTOGENERATED - DO NOT EDIT\n')
230 cprintraw('#define N %d\n' % len(params))
233 cprint('#define X_EXTRACT')
234 for ix in range(0, len(params)):
235 cprint('double %s = X(%d);' % (eval(params[ix]), ix))
238 def gen_f_populate():
239 cprint('#define F_POPULATE')
240 cassign(result_dirnscaled,'F','ftmp')
243 def gen_j_populate():
244 cprint('#define J_POPULATE')
245 gen_diff(result_dirnscaled, (sh*sh*la, th*th*la))
255 # https://github.com/sympy/sympy/issues/13642
256 # "lambdify sinc gives wrong answer!"
258 sinc_fixed = Function('sinc_fixed')
259 implemented_function(sinc_fixed, lambda x: np.sinc(x/np.pi))
260 out = out.subs(sinc,sinc_fixed)
261 p = list(map(eval,params))
262 return lambdify(p, out)