symbolic.py: wip

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

diff --git a/symbolic.py b/symbolic.py
index 42a24e3734f23a7a81552ae056aa8d8cacb0b9d8..251859ae0ee0d7d42c7242a1c0eb8014865155ee 100755 (executable)
--- a/symbolic.py
+++ b/symbolic.py
@@ -57,3 +57,30 @@ print
 pprint(q_dirn_owncoords)
 print
 pprint(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.add_col([0,0])
+#p2q_rotate.add_row([0,0,1])
+
+print('\n p2q_rotate\n')
+pprint(p2q_rotate)
+
+assert(Eq(p2q_rotate * Matrix([0,1,mu]), p_dirn_rightvars))
+
+print('\n eye3 subs etc.\n')
+pprint(Eq(eye(3) * Matrix([1,0,mu]),
+          p_dirn_rightvars .cross(Matrix([0,0,1]) .subs(s,0))))
+
+print('\n eye3 etc.\n')
+pprint(Eq(p2q_rotate * Matrix([1,0,mu]),
+          p_dirn_rightvars .cross(Matrix([0,0,1]))))
+
+#eq = Eq(qmat * q_dirn_owncoords_0, p_dirn_rightvars)
+#print
+#pprint(eq)
+#solve(eq, Q)