def test_form_2():
symsystem2 = SymbolicSystem(coordinates,
comb_implicit_rhs,
speeds=speeds,
mass_matrix=comb_implicit_mat,
alg_con=alg_con_full,
output_eqns=out_eqns,
bodies=bodies,
loads=loads)
assert symsystem2.coordinates == Matrix([x, y, lam])
assert symsystem2.speeds == Matrix([u, v])
assert symsystem2.states == Matrix([x, y, lam, u, v])
assert symsystem2.alg_con == [4]
inter = comb_implicit_rhs
assert simplify(symsystem2.comb_implicit_rhs - inter) == zeros(5, 1)
assert simplify(symsystem2.comb_implicit_mat -
comb_implicit_mat) == zeros(5)
assert set(symsystem2.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem2.dynamic_symbols()) == tuple
assert set(symsystem2.constant_symbols()) == set([l, g, m])
assert type(symsystem2.constant_symbols()) == tuple
inter = comb_explicit_rhs
symsystem2.compute_explicit_form()
assert simplify(symsystem2.comb_explicit_rhs - inter) == zeros(5, 1)
assert symsystem2.output_eqns == out_eqns
assert symsystem2.bodies == (Pa, )
assert symsystem2.loads == ((P, g * m * N.x), )
def test_form_1():
symsystem1 = SymbolicSystem(states,
comb_explicit_rhs,
alg_con=alg_con_full,
output_eqns=out_eqns,
coord_idxs=coord_idxs,
speed_idxs=speed_idxs,
bodies=bodies,
loads=loads)
assert symsystem1.coordinates == Matrix([x, y])
assert symsystem1.speeds == Matrix([u, v])
assert symsystem1.states == Matrix([x, y, u, v, lam])
assert symsystem1.alg_con == [4]
inter = comb_explicit_rhs
assert simplify(symsystem1.comb_explicit_rhs - inter) == zeros(5, 1)
assert set(symsystem1.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem1.dynamic_symbols()) == tuple
assert set(symsystem1.constant_symbols()) == set([l, g, m])
assert type(symsystem1.constant_symbols()) == tuple
assert symsystem1.output_eqns == out_eqns
assert symsystem1.bodies == (Pa, )
assert symsystem1.loads == ((P, g * m * N.x), )
def test_form_2():
symsystem2 = SymbolicSystem(coordinates, comb_implicit_rhs, speeds=speeds,
mass_matrix=comb_implicit_mat,
alg_con=alg_con_full, output_eqns=out_eqns,
bodies=bodies, loads=loads)
assert symsystem2.coordinates == Matrix([x, y, lam])
assert symsystem2.speeds == Matrix([u, v])
assert symsystem2.states == Matrix([x, y, lam, u, v])
assert symsystem2.alg_con == [4]
inter = comb_implicit_rhs
assert simplify(symsystem2.comb_implicit_rhs - inter) == zeros(5, 1)
assert simplify(symsystem2.comb_implicit_mat-comb_implicit_mat) == zeros(5)
assert set(symsystem2.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem2.dynamic_symbols()) == tuple
assert set(symsystem2.constant_symbols()) == set([l, g, m])
assert type(symsystem2.constant_symbols()) == tuple
inter = comb_explicit_rhs
symsystem2.compute_explicit_form()
assert simplify(symsystem2.comb_explicit_rhs - inter) == zeros(5, 1)
assert symsystem2.output_eqns == out_eqns
assert symsystem2.bodies == (Pa,)
assert symsystem2.loads == ((P, g * m * N.x),)
def test_form_1():
symsystem1 = SymbolicSystem(
states,
comb_explicit_rhs,
alg_con=alg_con_full,
output_eqns=out_eqns,
coord_idxs=coord_idxs,
speed_idxs=speed_idxs,
bodies=bodies,
loads=loads,
)
assert symsystem1.coordinates == Matrix([x, y])
assert symsystem1.speeds == Matrix([u, v])
assert symsystem1.states == Matrix([x, y, u, v, lam])
assert symsystem1.alg_con == [4]
inter = comb_explicit_rhs
assert simplify(symsystem1.comb_explicit_rhs - inter) == zeros(5, 1)
assert set(symsystem1.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem1.dynamic_symbols()) == tuple
assert set(symsystem1.constant_symbols()) == set([l, g, m])
assert type(symsystem1.constant_symbols()) == tuple
assert symsystem1.output_eqns == out_eqns
assert symsystem1.bodies == (Pa,)
assert symsystem1.loads == ((P, g * m * N.x),)
def test_form_3():
symsystem3 = SymbolicSystem(
states,
dyn_implicit_rhs,
mass_matrix=dyn_implicit_mat,
coordinate_derivatives=kin_explicit_rhs,
alg_con=alg_con,
coord_idxs=coord_idxs,
speed_idxs=speed_idxs,
bodies=bodies,
loads=loads,
)
assert symsystem3.coordinates == Matrix([x, y])
assert symsystem3.speeds == Matrix([u, v])
assert symsystem3.states == Matrix([x, y, u, v, lam])
assert symsystem3.alg_con == [4]
inter1 = kin_explicit_rhs
inter2 = dyn_implicit_rhs
assert simplify(symsystem3.kin_explicit_rhs - inter1) == zeros(2, 1)
assert simplify(symsystem3.dyn_implicit_mat - dyn_implicit_mat) == zeros(3)
assert simplify(symsystem3.dyn_implicit_rhs - inter2) == zeros(3, 1)
inter = comb_implicit_rhs
assert simplify(symsystem3.comb_implicit_rhs - inter) == zeros(5, 1)
assert simplify(symsystem3.comb_implicit_mat -
comb_implicit_mat) == zeros(5)
inter = comb_explicit_rhs
symsystem3.compute_explicit_form()
assert simplify(symsystem3.comb_explicit_rhs - inter) == zeros(5, 1)
assert set(symsystem3.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem3.dynamic_symbols()) == tuple
assert set(symsystem3.constant_symbols()) == set([l, g, m])
assert type(symsystem3.constant_symbols()) == tuple
assert symsystem3.output_eqns == {}
assert symsystem3.bodies == (Pa, )
assert symsystem3.loads == ((P, g * m * N.x), )
def test_form_3():
symsystem3 = SymbolicSystem(
states,
dyn_implicit_rhs,
mass_matrix=dyn_implicit_mat,
coordinate_derivatives=kin_explicit_rhs,
alg_con=alg_con,
coord_idxs=coord_idxs,
speed_idxs=speed_idxs,
bodies=bodies,
loads=loads,
)
assert symsystem3.coordinates == Matrix([x, y])
assert symsystem3.speeds == Matrix([u, v])
assert symsystem3.states == Matrix([x, y, u, v, lam])
assert symsystem3.alg_con == [4]
inter1 = kin_explicit_rhs
inter2 = dyn_implicit_rhs
assert simplify(symsystem3.kin_explicit_rhs - inter1) == zeros(2, 1)
assert simplify(symsystem3.dyn_implicit_mat - dyn_implicit_mat) == zeros(3)
assert simplify(symsystem3.dyn_implicit_rhs - inter2) == zeros(3, 1)
inter = comb_implicit_rhs
assert simplify(symsystem3.comb_implicit_rhs - inter) == zeros(5, 1)
assert simplify(symsystem3.comb_implicit_mat - comb_implicit_mat) == zeros(5)
inter = comb_explicit_rhs
symsystem3.compute_explicit_form()
assert simplify(symsystem3.comb_explicit_rhs - inter) == zeros(5, 1)
assert set(symsystem3.dynamic_symbols()) == set([y, v, lam, u, x])
assert type(symsystem3.dynamic_symbols()) == tuple
assert set(symsystem3.constant_symbols()) == set([l, g, m])
assert type(symsystem3.constant_symbols()) == tuple
assert symsystem3.output_eqns == {}
assert symsystem3.bodies == (Pa,)
assert symsystem3.loads == ((P, g * m * N.x),)
