symbolic.py: wip o2p_rotate

Signed-off-by: Ian Jackson <ijackson@chiark.greenend.org.uk>

diff --git a/symbolic.py b/symbolic.py
index 8b42ccfcadfb5d5f0f183c8d2dc7282c249965d0..6cc5c2b00b28b68dc648cf57a8979f94c4ee7c11 100755 (executable)
--- a/symbolic.py
+++ b/symbolic.py
@@ -10,7 +10,7 @@ if sys.stdout.encoding is None:
 
 init_printing(use_unicode=True)
 
-r, theta, s, la, mu = symbols('r theta s lambda mu')
+r, theta, s, la, mu, kappa = symbols('r theta s lambda mu kappa')
 
 # start      original formulation
 # rightvars  replaces 
@@ -104,4 +104,24 @@ cosof_mu = cos(atan(mu))
 
 dbg('cosof_mu','sinof_mu')
 
-#o2p_rotate1 = Matrix([ [ 
+o2p_rotate1 = Matrix([[ 1,  0,         0        ],
+                      [ 0,  cosof_mu, +sinof_mu ],
+                      [ 0, -sinof_mu,  cosof_mu ]])
+
+check_dirn_p_s0 = o2p_rotate1 * p_dirn_rightvars.replace(s,0)
+check_dirn_p_s0.simplify()
+dbg('check_dirn_p_s0')
+
+o2p_rotate2 = Matrix([[  cos(kappa), 0, -sin(kappa) ],
+                      [  0,          1,  0          ],
+                      [ +sin(kappa), 0,  cos(kappa) ]])
+
+p_dirn_orgcoords = o2p_rotate2 * o2p_rotate1 * p_dirn_rightvars
+
+check_dirn_p_s0 = p_dirn_orgcoords.replace(s,0)
+check_dirn_p_s0.simplify()
+dbg('check_dirn_p_s0')
+
+check_accel_p_s0 = diff(p_dirn_orgcoords,s).replace(s,0)
+check_accel_p_s0.simplify()
+dbg('check_accel_p_s0')