ó ~9­\c@s–ddlmZddlmZmZmZmZddlmZmZm Z ddlm Z ddl m Z d„Z d„Zd„Zd „Zd S( iÿÿÿÿ(tsymbols(tPointtReferenceFrametDyadict RigidBody(tdynamicsymbolstoutertinertia(tinertia_of_point_mass(texpandcCstdƒ\}}}}}}tdƒ}tdƒ}tdƒ}tdƒ} tdƒ} tdƒ} td|||| |fƒ} | j|ks™t‚| j|ks®t‚| j|ksÃt‚| j | | jfksát‚|| _|| _| | _| | jf| _ | j|ks#t‚| j|ks8t‚| j| ksMt‚| j | | jfkskt‚| j| ks€t‚| j | | jfksžt‚tdƒ} | j | || j || j || j ƒ| j| ƒ||| j || j || j kst‚dS( Nsm m2 v1 v2 v3 omegatAtA2tPtP2itBtN(RRRRRtmasstAssertionErrortframet masscenterRtset_veltxtytztlinear_momentum(tmtm2tv1tv2tv3tomegaR R R R tItI2RR((sKlib/python2.7/site-packages/sympy/physics/mechanics/tests/test_rigidbody.pyttest_rigidbodys2          -c Cs§tdƒ\}}}}}}tdƒ}tdƒ}|j|||jƒtdƒ}t|j|jƒ} | |f} td|||| ƒ} |j|||jƒ| j||ƒ||jksÎt ‚tdƒ} | j|||jƒ|j | ||j ƒ| j| |ƒ||j||||j ks@t ‚|||| _ | j |||ksnt ‚td| j|ƒƒ|d||dks£t ‚dS(NsM v r omega g hRtbR RtOi(RRt set_ang_velRRRRRtangular_momentumRtset_posRRtpotential_energyR tkinetic_energy( tMtvtrRtgthRR"R Rt Inertia_tupleRR#((sKlib/python2.7/site-packages/sympy/physics/mechanics/tests/test_rigidbody.pyttest_rigidbody2's"    % 8c CsŽtdƒ\}}}}tdƒ\}}}tdƒ}tdƒ}|jdd||jgƒ} tdƒ} | j|||j||j||jƒ| j d|| j|| j|| jƒ} | j | || ƒt | j| jƒ} t d | | || | fƒ} t d | | || t || j| ƒ| ƒ| fƒ}| j|jks`t‚| j| |ƒ|j| |ƒksŠt‚dS( Nsq1:5sp1:4RR RtaxisR#R trb1trb2(RRRt orientnewRRRRRt locatenewt v2pt_theoryRRRtpos_fromtcentral_inertiaRR%(tq1tq2tq3tq4tp1tp2tp3RR RR#R RR1R2((sKlib/python2.7/site-packages/sympy/physics/mechanics/tests/test_rigidbody.pyttest_rigidbody3:s   -/(c Csxtdƒ\}}tdƒ}tdƒ}|jdd||jgƒ}|j||jƒ|jƒt|d||dd||ddƒ}td ƒ}|j d d||j ƒ}|j d ||j ƒ}t d |||||fƒ} |j |dƒ|j |||ƒ|j |||ƒd ||dd|jƒ|j| j||ƒj|ƒdkstt‚dS(sòConsider a pendulum of length OA = 2a, of mass m as a rigid body of center of mass G (OG = a) which turn around (O,z). The angle between the reference frame R and the rod is q. The inertia of the body is I = (G,0,ma^2/3,ma^2/3). sm, atqtRtR1tAxisiiiR#R tGtSiN(RRRR3RR$tdiffRRR4RRRR5R%texpressR( RtaR@RARBRR#R RDRE((sKlib/python2.7/site-packages/sympy/physics/mechanics/tests/test_rigidbody.pyttest_pendulum_angular_momentumPs  - $N(tsympyRtsympy.physics.mechanicsRRRRRRRRtsympy.core.backendR R!R/R?RI(((sKlib/python2.7/site-packages/sympy/physics/mechanics/tests/test_rigidbody.pyts"