def evaluate(self, theta, u_P, n, t): # manjka se tretja komponenta od produkta n.t """ Function calculate values in predefined zero matrix """ dt_ds = d_ds(t) self.matrix[0:2] = self._sign * np.dot(A_matrix(theta), dt_ds) # body i if self.id == 0: _theta_i = theta _t_i = d2_ds2(t) _theta_j = self._parent.body_list[1].theta[2] _n_j = self._parent._n_list[1] self.matrix[-1] = self._sign * np.dot( np.dot(A_2theta_matrix(_theta_i), _t_i), np.dot(A_matrix(_theta_j), _n_j)) # body j elif self.id == 1: _theta_i = self._parent.body_list[0].theta[2] _t_i = self._parent._t_list[0] _theta_j = theta _n_j = d2_ds2(n) self.matrix[-1] = self._sign * np.dot( np.dot(A_matrix(_theta_i), _t_i), np.dot(A_2theta_matrix(_theta_j), _n_j))
def evaluate(self, theta, u_P, n, t): """ """ self.matrix[0:2, -1] = self._sign * np.dot(A_2theta_matrix(theta), u_P) # body i if self.id == 0: _theta_i = theta # second partial derivative of t_i with respect to s_i _d2t_i_ds2_i = d2_ds2(t) _theta_j = self._parent.body_list[1].theta[2] _n_j = self._parent._n_list[1] self.matrix[-1, -1] = self._sign * np.dot( np.dot(A_2theta_matrix(_theta_i), _d2t_i_ds2_i), np.dot(A_matrix(_theta_j), _n_j)) # body j elif self.id == 1: _theta_i = self._parent.body_list[0].theta[2] _t_i = self._parent._t_list[0] _theta_j = theta # second partial derivative of n_j with respect to s_j _d2n_j_ds2_j = d2_ds2(n) self.matrix[-1, -1] = self._sign * np.dot( np.dot(A_matrix(_theta_i), _t_i), np.dot(A_2theta_matrix(_theta_j), _d2n_j_ds2_j))
def evaluate(self, theta, u_P, n, t): # manjka se tretja komponenta od produkta n.t """ Function calculate values in predefined zero matrix """ dt_ds = d_ds(t) self.matrix[0:2] = self._sign * np.dot(A_matrix(theta), dt_ds) # body i if self.id == 0: _theta_i = theta _t_i = d2_ds2(t) _theta_j = self._parent.body_list[1].theta[2] _n_j = self._parent._n_list[1] self.matrix[-1] = self._sign * np.dot(np.dot(A_2theta_matrix(_theta_i), _t_i), np.dot(A_matrix(_theta_j), _n_j)) # body j elif self.id == 1: _theta_i = self._parent.body_list[0].theta[2] _t_i = self._parent._t_list[0] _theta_j = theta _n_j = d2_ds2(n) self.matrix[-1] = self._sign * np.dot(np.dot(A_matrix(_theta_i), _t_i), np.dot(A_2theta_matrix(_theta_j), _n_j))
def evaluate(self, theta, u_P, n, t): """ """ self.matrix[0:2, -1] = self._sign * np.dot(A_2theta_matrix(theta), u_P) # body i if self.id == 0: _theta_i = theta # second partial derivative of t_i with respect to s_i _d2t_i_ds2_i = d2_ds2(t) _theta_j = self._parent.body_list[1].theta[2] _n_j = self._parent._n_list[1] self.matrix[-1, -1] = self._sign * np.dot(np.dot(A_2theta_matrix(_theta_i), _d2t_i_ds2_i), np.dot(A_matrix(_theta_j), _n_j)) # body j elif self.id == 1: _theta_i = self._parent.body_list[0].theta[2] _t_i = self._parent._t_list[0] _theta_j = theta # second partial derivative of n_j with respect to s_j _d2n_j_ds2_j = d2_ds2(n) self.matrix[-1, -1] = self._sign * np.dot(np.dot(A_matrix(_theta_i), _t_i), np.dot(A_2theta_matrix(_theta_j), _d2n_j_ds2_j))