5 from moedebug import dbg_enable
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_enable: return
19 if not dbg_enable: return
21 print('\n ' + vn + '\n')
38 p_rightvars = p_start.subs( theta, s/r ).subs( r, 1/la )
42 p_dirn_rightvars = diff(p_rightvars, s)
44 dbg('p_dirn_rightvars')
48 p_nosing = (p_rightvars
49 .replace( 1-cos(zeta) , 2*sin(zeta/2)**2 )
50 .replace( sin(zeta)**2 , zeta*sinc(zeta)*sin(zeta) )
52 p_nosing[1] = (p_nosing[1]
53 .replace( sin(zeta) , zeta * sinc(zeta) )
60 q_owncoords = p_nosing.replace(s,t).replace(la,-la)
61 q_dirn_owncoords = p_dirn_rightvars.replace(s,t).replace(la,-la)
63 dbg('q_owncoords','q_dirn_owncoords')
64 dbg('q_owncoords.replace(t,0)','q_dirn_owncoords.replace(t,0)')
66 p2q_translate = p_nosing
67 #p2q_rotate_2d = Matrix([ p_dirn_rightvars[0:2],
70 #p2q_rotate[0:2, 0] = Matrix([ p_dirn_rightvars[1], -p_dirn_rightvars[0] ])
71 #p2q_rotate[0:2, 1] = p_dirn_rightvars[0:2]
73 p2q_rotate = Matrix([[ cos(theta), sin(theta), 0 ],
74 [ -sin(theta), cos(theta), 0 ],
75 [ 0 , 0, 1 ]]).subs(theta,la*s)
76 #p2q_rotate.add_col([0,0])
77 #p2q_rotate.add_row([0,0,1])
81 q_dirn_maincoords = p2q_rotate * q_dirn_owncoords;
82 q_maincoords = p2q_rotate * q_owncoords + p2q_translate
84 dbg('diff(p_dirn_rightvars,s)')
85 dbg('diff(q_dirn_maincoords,t)')
86 dbg('diff(q_dirn_maincoords,t).replace(t,0)')
88 assert(Eq(p2q_rotate * Matrix([0,1,mu]), p_dirn_rightvars))
90 #for v in 's','t','la','mu':
91 # dbg('diff(q_maincoords,%s)' % v)
93 #print('\n eye3 subs etc.\n')
94 #dbg('''Eq(eye(3) * Matrix([1,0,mu]),
95 # p_dirn_rightvars .cross(Matrix([0,0,1]) .subs(s,0)))''')
97 #dbg('''Eq(p2q_rotate * Matrix([1,0,mu]),
98 # p_dirn_rightvars .cross(Matrix([0,0,1])))''')
100 #eq = Eq(qmat * q_dirn_owncoords_0, p_dirn_rightvars)
105 dbg('q_maincoords.replace(t,0)','q_dirn_maincoords.replace(t,0)')
107 dbg('q_maincoords','q_dirn_maincoords')
109 sinof_mu = sin(atan(mu))
110 cosof_mu = cos(atan(mu))
112 dbg('cosof_mu','sinof_mu')
114 o2p_rotate1 = Matrix([[ 1, 0, 0 ],
115 [ 0, cosof_mu, +sinof_mu ],
116 [ 0, -sinof_mu, cosof_mu ]])
118 check_dirn_p_s0 = o2p_rotate1 * p_dirn_rightvars.replace(s,0)
119 check_dirn_p_s0.simplify()
120 dbg('check_dirn_p_s0')
122 o2p_rotate2 = Matrix([[ cos(kappa), 0, -sin(kappa) ],
124 [ +sin(kappa), 0, cos(kappa) ]])
126 p_dirn_orgcoords = o2p_rotate2 * o2p_rotate1 * p_dirn_rightvars
128 check_dirn_p_s0 = p_dirn_orgcoords.replace(s,0)
129 check_dirn_p_s0.simplify()
130 dbg('check_dirn_p_s0')
132 check_accel_p_s0 = diff(p_dirn_orgcoords,s).replace(s,0)
133 check_accel_p_s0.simplify()
134 dbg('check_accel_p_s0')
136 q_dirn_orgcoords = o2p_rotate2 * o2p_rotate1 * q_dirn_maincoords;
137 q_orgcoords = o2p_rotate2 * o2p_rotate1 * q_maincoords;
138 dbg('q_orgcoords','q_dirn_orgcoords')
141 sh, th = symbols('alpha beta')
144 q_dirn_sqparm = q_dirn_orgcoords.replace(s, sh**2).replace(t, th**2)
145 q_sqparm = q_orgcoords .replace(s, sh**2).replace(t, th**2)
147 dprint('----------------------------------------')
148 dbg('q_sqparm', 'q_dirn_sqparm')
149 dprint('----------------------------------------')
150 for v in 'sh','th','la','mu':
151 dbg('diff(q_sqparm,%s)' % v)
152 dbg('diff(q_dirn_sqparm,%s)' % v)
153 dprint('----------------------------------------')
155 gamma = symbols('gamma')
157 q_dirn_dirnscaled = q_dirn_sqparm * gamma
159 global result_dirnscaled
160 result_dirnscaled = q_sqparm.col_join(q_dirn_dirnscaled)
161 dbg('result_dirnscaled')
165 params = ('sh','th','la','mu','gamma','kappa')
167 def ourccode(*a, **kw):
168 return ccode(*a, user_functions={'sinc':'sinc'}, **kw)
174 for l in s.split('\n'):
177 def cse_prep_cprint(v, tmp_prefix):
178 # => v, but also having cprint'd the common subexpression assignments
179 sym_iter = map((lambda i: symbols('%s%d' % (tmp_prefix,i))),
181 (defs, vs) = cse(v, symbols=sym_iter)
182 for defname, defval in defs:
183 cprint('double '+ourccode(defval, assign_to=defname))
186 def cassign(v, assign_to, tmp_prefix):
187 v = cse_prep_cprint(v, tmp_prefix)
188 cprint(ourccode(v, assign_to=assign_to))
190 def gen_diff(current, smalls):
193 j = zeros(len(params),0)
197 d = diff(current, paramv)
201 j = cse_prep_cprint(j, 'jtmp')
202 for ix in range(0, j.cols):
203 cprint(ourccode(j.col(ix), 'J_COL'))
204 cprint('J_END_COL(%d)' % ix)
208 cprint('if (!IS_SMALL(' + ourccode(small) + ')) {')
209 gen_diff(current, smalls)
210 cprint('} else { /* %s small */' % small)
211 gen_diff(current.replace(
213 1 - small*small/factorial(3) - small**4/factorial(5),
217 cprint('} /* %s small */' % small)
220 cprintraw('// AUTOGENERATED - DO NOT EDIT\n')
221 cprintraw('#define N %d\n' % len(params))
224 cprint('#define X_EXTRACT')
225 for ix in range(0, len(params)):
226 cprint('double %s = X(%d);' % (eval(params[ix]), ix))
229 def gen_f_populate():
230 cprint('#define F_POPULATE')
231 cassign(result_dirnscaled,'F','ftmp')
234 def gen_j_populate():
235 cprint('#define J_POPULATE')
236 gen_diff(result_dirnscaled, (sh*sh*la, th*th*la))
246 # https://github.com/sympy/sympy/issues/13642
247 # "lambdify sinc gives wrong answer!"
249 sinc_fixed = Function('sinc_fixed')
250 implemented_function(sinc_fixed, lambda x: np.sinc(x/np.pi))
251 out = out.subs(sinc,sinc_fixed)
252 p = list(map(eval,params))
253 return lambdify(p, out)