symbolic.py: fixes for debug output post making-things-into-a-function

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

diff --git a/symbolic.py b/symbolic.py
index 3d17dcbb67f9c2b581e867088ae6513a6e3351a1..7e9ac91f3b7e0c3063d5f31ca517de19fc848437 100644 (file)
--- a/symbolic.py
+++ b/symbolic.py
@@ -35,16 +35,17 @@ def calculate():
     mu * s,
   ])
 
+  global p_rightvars
   p_rightvars = p_start.subs( theta, s/r ).subs( r, 1/la )
-
   dbg('p_rightvars')
 
+  global p_dirn_rightvars
   p_dirn_rightvars = diff(p_rightvars, s)
-
   dbg('p_dirn_rightvars')
 
   zeta = Wild('zeta')
 
+  global p_nosing
   p_nosing = (p_rightvars
               .replace( 1-cos(zeta)  ,   2*sin(zeta/2)**2          )
               .replace( sin(zeta)**2 ,   zeta*sinc(zeta)*sin(zeta) )
@@ -55,14 +56,17 @@ def calculate():
 
   dbg('p_nosing')
 
+  global t
   t = symbols('t')
 
+  global q_owncoords, q_dirn_owncoords
   q_owncoords = p_nosing.replace(s,t).replace(la,-la)
   q_dirn_owncoords = p_dirn_rightvars.replace(s,t).replace(la,-la)
 
   dbg('q_owncoords','q_dirn_owncoords')
   dbg('q_owncoords.replace(t,0)','q_dirn_owncoords.replace(t,0)')
 
+  global p2q_translate, p2q_rotate
   p2q_translate = p_nosing
   #p2q_rotate_2d = Matrix([ p_dirn_rightvars[0:2],
 
@@ -78,6 +82,7 @@ def calculate():
 
   dbg('p2q_rotate')
 
+  global q_dirn_maincoords, q_maincoords
   q_dirn_maincoords = p2q_rotate * q_dirn_owncoords;
   q_maincoords = p2q_rotate * q_owncoords + p2q_translate
 
@@ -106,6 +111,7 @@ def calculate():
 
   dbg('q_maincoords','q_dirn_maincoords')
 
+  global sinof_mu, cosof_mu
   sinof_mu = sin(atan(mu))
   cosof_mu = cos(atan(mu))
 
@@ -115,6 +121,7 @@ def calculate():
                         [ 0,  cosof_mu, +sinof_mu ],
                         [ 0, -sinof_mu,  cosof_mu ]])
 
+  global check_dirn_p_s0
   check_dirn_p_s0 = o2p_rotate1 * p_dirn_rightvars.replace(s,0)
   check_dirn_p_s0.simplify()
   dbg('check_dirn_p_s0')
@@ -129,10 +136,12 @@ def calculate():
   check_dirn_p_s0.simplify()
   dbg('check_dirn_p_s0')
 
+  global check_accel_p_s0
   check_accel_p_s0 = diff(p_dirn_orgcoords,s).replace(s,0)
   check_accel_p_s0.simplify()
   dbg('check_accel_p_s0')
 
+  global q_dirn_orgcoords, q_orgcoords
   q_dirn_orgcoords = o2p_rotate2 * o2p_rotate1 * q_dirn_maincoords;
   q_orgcoords = o2p_rotate2 * o2p_rotate1 * q_maincoords;
   dbg('q_orgcoords','q_dirn_orgcoords')
@@ -140,7 +149,7 @@ def calculate():
   global sh, th
   sh, th = symbols('alpha beta')
 
-  global q_sqparm
+  global q_dirn_sqparm, q_sqparm
   q_dirn_sqparm = q_dirn_orgcoords.replace(s, sh**2).replace(t, th**2)
   q_sqparm      = q_orgcoords     .replace(s, sh**2).replace(t, th**2)