From 4e32601ab234075f546ddff92263c7c758a13e41 Mon Sep 17 00:00:00 2001 From: Ian Jackson Date: Fri, 17 Nov 2017 21:16:13 +0000 Subject: [PATCH] symbolic.py: seems to mostly have the right stuff Signed-off-by: Ian Jackson --- symbolic.py | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/symbolic.py b/symbolic.py index 9d9da45..29ca679 100755 --- a/symbolic.py +++ b/symbolic.py @@ -25,7 +25,7 @@ p_rightvars = p_start.subs( theta, s/r ).subs( r, 1/la ) def dbg(*args): for vn in args: - print('\n' + vn + '\n') + print('\n ' + vn + '\n') pprint(eval(vn)) dbg('p_rightvars') @@ -51,9 +51,8 @@ t = symbols('t') q_owncoords = p_nosing.replace(s,t).replace(la,-la) q_dirn_owncoords = p_dirn_rightvars.replace(s,t).replace(la,-la) -q_dirn_owncoords_0 = q_dirn_owncoords.replace(t,0) - -dbg('q_owncoords','q_dirn_owncoords','q_dirn_owncoords_0') +dbg('q_owncoords','q_dirn_owncoords') +dbg('q_owncoords.replace(t,0)','q_dirn_owncoords.replace(t,0)') p2q_translate = p_nosing #p2q_rotate_2d = Matrix([ p_dirn_rightvars[0:2], @@ -70,6 +69,16 @@ p2q_rotate = Matrix([[ cos(theta), sin(theta), 0 ], dbg('p2q_rotate') +q_dirn_maincoords = p2q_rotate * q_dirn_owncoords; +q_maincoords = p2q_rotate * q_owncoords + p2q_translate + +dbg('q_maincoords','q_dirn_maincoords') +dbg('q_maincoords.replace(t,0)','q_dirn_maincoords.replace(t,0)') + +dbg('diff(p_dirn_rightvars,s)') +dbg('diff(q_dirn_maincoords,t)') +dbg('diff(q_dirn_maincoords,t).replace(t,0)') + assert(Eq(p2q_rotate * Matrix([0,1,mu]), p_dirn_rightvars)) print('\n eye3 subs etc.\n') -- 2.30.2