ó
¡¼™\c        
   @   s¦  d  d l  j j Z d  d l Z d  d l Z d  d l Z	 e j
 d ƒ Z e j
 d ƒ Z d Z e j e d d d ƒ Z e j d ƒ Z e j d ƒ Z e j d e j d	 ƒ e j d
 ƒ ƒ Z e j d e j d ƒ e j d
 ƒ ƒ Z e j d ƒ \ Z Z Z e j d d ƒ \ Z Z Z e j d ƒ Z e j e d ƒ e j
 d ƒ Z  e j! d e e  e j" d
 ƒ e j# e  j$ e  j$ ƒ e f ƒ Z% e j& e j' e e j$ ƒ d e j( e j' ƒ e e j) Z* e j+ e e e j, ƒ d e j- e ƒ e e j) Z* e  j+ e e e j, ƒ d e  j- e ƒ e e j) Z* e j. e e j- e ƒ j/ e ƒ ƒ d e j0 e ƒ e e j) Z* e j' j e e e j$ e e j) ƒ e j1 e e e j) ƒ e j2 e j3 e ƒ e j' j4 e ƒ ƒ Z5 e5 Z6 d e6 Z7 e7 d Z8 d e e e Z9 e9 d e 7Z9 d e Z9 e j d ƒ \ Z: Z; Z< Z= e j d d ƒ \ Z> Z? Z@ ZA e j d ƒ \ Z$ Z) e j d d ƒ \ ZB ZC e j d d ƒ \ ZD ZE e j d ƒ ZF e$ eB d d ZF e jG d g g ƒ Z d e$ e d <e jH e jI d e jG d g g ƒ ƒ Z d e) e e jI d d <d e d Z e jG d d d d d d d d d g	 ƒ jJ d d ƒ Z d e d <e d d Z e: e j$ ZK e; e j, ZL e: e j$ e; e j) ZK eK d ZM d S(   iÿÿÿÿNt   nt   ai    i   t   po1t   po2t   p1t   p1_ptt   mt   p2t   p2_pts   c1 c2 c3t   r_cmt   r_ft   ri   i   s   q1 q2 u1 u2s   x yt   yyi   i   i   i   i   i	   (   i    i   (   i    i   (N   t   sympy.physics.mechanicst   physicst	   mechanicst   met   sympyt   smt   mathR   t   numpyt   npt   ReferenceFramet   frame_nt   frame_aR   t   inertiat   dt   Pointt	   point_po1t	   point_po2t   Particlet   Symbolt   particle_p1t   particle_p2t   dynamicsymbolst   c1t   c2t   c3t   c1dt   c2dt   c3dt	   body_r_cmt   set_velt   body_r_ft	   RigidBodyt   symbolst   outert   xt   body_rt   set_post   pointt   pos_fromt   yt   vt   set_ang_velt   zt
   ang_vel_int   set_ang_acct   dtt
   ang_acc_int   set_acct   crosst   acct   velt   v_at   x_b_ct   x_b_dt	   a_b_c_d_et   a_b_ct   q1t   q2t   u1t   u2t   q1dt   q2dt   u1dt   u2dt   xdt   ydt   xd2t   yd2R   t   Matrixt
   row_insertt   shapet   reshapet   force_rot   torque_at   f(    (    (    sL   lib/python2.7/site-packages/sympy/parsing/autolev/test-examples/ruletest9.pyt   <module>   sj   ''<!"%'


(6
