21 lines
682 B
Python
21 lines
682 B
Python
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import sympy.physics.mechanics as _me
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import sympy as _sm
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import math as m
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import numpy as _np
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frame_a = _me.ReferenceFrame('a')
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frame_b = _me.ReferenceFrame('b')
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q1, q2, q3 = _me.dynamicsymbols('q1 q2 q3')
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frame_b.orient(frame_a, 'Axis', [q3, frame_a.x])
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dcm = frame_a.dcm(frame_b)
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m = dcm*3-frame_a.dcm(frame_b)
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r = _me.dynamicsymbols('r')
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circle_area = _sm.pi*r**2
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u, a = _me.dynamicsymbols('u a')
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x, y = _me.dynamicsymbols('x y')
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s = u*_me.dynamicsymbols._t-1/2*a*_me.dynamicsymbols._t**2
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expr1 = 2*a*0.5-1.25+0.25
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expr2 = -1*x**2+y**2+0.25*(x+y)**2
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expr3 = 0.5*10**(-10)
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dyadic = _me.outer(frame_a.x, frame_a.x)+_me.outer(frame_a.y, frame_a.y)+_me.outer(frame_a.z, frame_a.z)
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