Hmm. I tried that going from frame[99] ->frame[0] ->frame[98]. Just finding out frame[99] -> frame[0] was taking forever so I stopped the process.
Nevertheless, I tried a few test and I think that going through global might take longer after all - not for all the situations, but for most. Sachin said that because of the way things have been designed, we will inadvertently end up multiplying 100 matrices. That part is definitely true. But, we will actually be doing that in a dynamic programming sort of a way - so we we'll already have the 99 matrices multiplied together when we need to multiply with the 100th matrix. Anyway, here's how we will proceed: 1. We have two matrices stored up at initialization - one wrt the parent frame and the other wrt to the global frame. 2. Initially, I was trying to simplify the DCM wrt to global frame - but - it seems that it will take much longer. So, I'll leave the matrix without simplification. 3. We will go through a path rather than going through the global frame. This admittedly makes the functionality of having a global DCM rather redundant. I'll need to write a path function of course. Anyway, so everyone okay with this? -- You received this message because you are subscribed to the Google Groups "sympy" group. To unsubscribe from this group and stop receiving emails from it, send an email to sympy+unsubscr...@googlegroups.com. To post to this group, send email to sympy@googlegroups.com. Visit this group at http://groups.google.com/group/sympy. For more options, visit https://groups.google.com/groups/opt_out.
