From 500f28128b6e73eb2e3e5f869d6253853e36158b Mon Sep 17 00:00:00 2001 From: Ian Jackson Date: Wed, 15 Nov 2017 18:34:45 +0000 Subject: [PATCH] symbolic.py: explicitly define p2q_rotate Signed-off-by: Ian Jackson --- symbolic.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/symbolic.py b/symbolic.py index aa42d07..9d9da45 100755 --- a/symbolic.py +++ b/symbolic.py @@ -58,9 +58,13 @@ dbg('q_owncoords','q_dirn_owncoords','q_dirn_owncoords_0') p2q_translate = p_nosing #p2q_rotate_2d = Matrix([ p_dirn_rightvars[0:2], -p2q_rotate = eye(3) -p2q_rotate[0:2, 0] = Matrix([ -p_dirn_rightvars[1], p_dirn_rightvars[0] ]) -p2q_rotate[0:2, 1] = p_dirn_rightvars[0:2] +#p2q_rotate = eye(3) +#p2q_rotate[0:2, 0] = Matrix([ p_dirn_rightvars[1], -p_dirn_rightvars[0] ]) +#p2q_rotate[0:2, 1] = p_dirn_rightvars[0:2] + +p2q_rotate = Matrix([[ cos(theta), sin(theta), 0 ], + [ -sin(theta), cos(theta), 0 ], + [ 0 , 0, 1 ]]).subs(theta,la*s) #p2q_rotate.add_col([0,0]) #p2q_rotate.add_row([0,0,1]) -- 2.30.2