23 lines
820 B
Python
23 lines
820 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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x1, x2 = _me.dynamicsymbols('x1 x2')
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f1 = x1*x2+3*x1**2
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f2 = x1*_me.dynamicsymbols._t+x2*_me.dynamicsymbols._t**2
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x, y = _me.dynamicsymbols('x y')
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x_d, y_d = _me.dynamicsymbols('x_ y_', 1)
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y_dd = _me.dynamicsymbols('y_', 2)
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q1, q2, q3, u1, u2 = _me.dynamicsymbols('q1 q2 q3 u1 u2')
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p1, p2 = _me.dynamicsymbols('p1 p2')
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p1_d, p2_d = _me.dynamicsymbols('p1_ p2_', 1)
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w1, w2, w3, r1, r2 = _me.dynamicsymbols('w1 w2 w3 r1 r2')
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w1_d, w2_d, w3_d, r1_d, r2_d = _me.dynamicsymbols('w1_ w2_ w3_ r1_ r2_', 1)
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r1_dd, r2_dd = _me.dynamicsymbols('r1_ r2_', 2)
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c11, c12, c21, c22 = _me.dynamicsymbols('c11 c12 c21 c22')
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d11, d12, d13 = _me.dynamicsymbols('d11 d12 d13')
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j1, j2 = _me.dynamicsymbols('j1 j2')
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n = _sm.symbols('n')
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n = _sm.I
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