+#THE FIRST TWO ROWS OF THE MATRIX
+row1 = eye(n).row_join(zeros(n,n))
+row2 = zeros(n,n).row_join(self.mass_matrix)
+if self.coneqs != None:
+m = len(self.coneqs)
+I = eye(n).row_join(zeros(n,n+m))
+below_eye =
@@ -0,0 +1,253 @@
+__all__ = ['LagrangesMethod']
+
+from sympy import diff, zeros, Matrix, eye, sympify
+from sympy.physics.mechanics import (dynamicsymbols, ReferenceFrame, Point)
+
+class LagrangesMethod(object):
@moorepants I will take care of that in another PR that I am going to open
@moorepants I have to disagree with you on some of these points Jason.
We just realized that the Kane class actually returns a negative mass matrix
and a negative forcing vector. In all calculations that have been done, these
cancel out and it goes unnoticed. Angadh and I discovered it today
+
+self.lam_vec = Matrix([])
+
+
+# Creating the qs, qdots and qdoubledots
+
+q_list = list(q_list)
+if not isinstance(q_list, list):
+raise TypeError('Generalized coords. must be supplied in a list')
+self._q = q_list
+
if not isinstance(bodylist, list):
raise TypeError('System elements must be supplied as a list')
else:
-linearmomentum_sys = 0
+linear_momentum_sys = 0
Would returning S(0) here be better, to get a SymPy object? I've had other
difficulties in mechanics
if not isinstance(bodylist, list):
raise TypeError('System elements must be supplied as a list')
else:
-angularmomentum_sys = 0
+angular_momentum_sys = 0
Same comment about S(0)
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+self.lam_coeffs = -coneqs_mat.jacobian(qd)
+
+#Determining the third term in Lagrange's EOM
+#term3 = ((self.lam_vec).transpose() *
self.lam_coeffs).transpose()
+term3 = self.lam_coeffs.transpose() * self.lam_vec
+
+#Taking the
The layout of the documentation was a little mixed up, so now it is separated
into a tutorial section and an API section.
You can merge this Pull Request by running:
git pull https://github.com/gilbertgede/sympy mechanics_doc_reorg
Or you can view, comment on it, or merge it online at:
