# convert the values to my coordinates and speeds
mooreInput = bicycle.basu_to_moore_input(basuInput, benchmarkPar['rR'],
benchmarkPar['lam'])
# store them in a state array
x = np.array([mooreInput[x] for x in whip.stateNames])
# calculate the derivatives of the state using my model and compare it to
# BasuMandal2007
xd = whip.f(x, 0.)
y = whip.outputs(x)
# convert the outputs from my model to the Basu-Mandal coordinates
mooreOutput = {k : v for k, v in zip(whip.outputNames, y)}
mooreOutputBasu = bicycle.moore_to_basu(mooreOutput, benchmarkPar['rR'], benchmarkPar['lam'])
basuOutput = bicycle.basu_table_one_output()
# make an rst list table
def rst_math(s):
"""Returns the variable name as reStructuredText math notation."""
mapping = {'x': r'x',
'y': r'y',
'z': r'z',
'theta': r'\theta',
'psi': r'\psi',
'phi': r'\phi',
'psif': r'\psi_f',
'betar': r'\beta_r',
'betaf': r'\beta_f'}
print("Generating output dictionary.")
# convert the outputs from my model to the Basu-Mandal coordinates
# TODO : raise an issue about not knowing which order the x vector is in with
# reference to M * x' = F
states = kane._q + kane._u
state_names = [str(state)[:-3] + 'p' for state in states]
moore_output = {k : v for k, v in zip(state_names, list(xd))}
u1 = -rr * u6 * sym.cos(q3)
u1p = u1.diff(t)
u2 = -rr * u6 * sym.sin(q3)
u2p = u2.diff(t)
moore_output['u1p'] = u1p.subs({u6d: moore_output['u6p']}).subs(kane.kindiffdict()).subs(substitutions)
moore_output['u2p'] = u2p.subs({u6d: moore_output['u6p']}).subs(kane.kindiffdict()).subs(substitutions)
moore_output.update(moore_input)
moore_output_basu = bicycle.moore_to_basu(moore_output, bp['rR'], bp['lam'])
basu_output = bicycle.basu_table_one_output()
print("Assertions.")
from numpy import testing
for k, bv in basu_output.items():
mv = float(moore_output_basu[k])
try:
testing.assert_allclose(bv, mv)
except AssertionError:
print('Failed: {} is supposed to be {} but is {}'.format(k, bv, mv))
# Try with lambdify
from benchmark_functions import numeric_right_hand_side
states = kane._q + kane._u
state_names = [str(state)[:-3] + 'p' for state in states]
moore_output = {k: v for k, v in zip(state_names, list(xd))}
u1 = -rr * u6 * sym.cos(q3)
u1p = u1.diff(t)
u2 = -rr * u6 * sym.sin(q3)
u2p = u2.diff(t)
moore_output['u1p'] = u1p.subs({
u6d: moore_output['u6p']
}).subs(kane.kindiffdict()).subs(substitutions)
moore_output['u2p'] = u2p.subs({
u6d: moore_output['u6p']
}).subs(kane.kindiffdict()).subs(substitutions)
moore_output.update(moore_input)
moore_output_basu = bicycle.moore_to_basu(moore_output, bp['rR'], bp['lam'])
basu_output = bicycle.basu_table_one_output()
print("Assertions.")
from numpy import testing
for k, bv in basu_output.items():
mv = float(moore_output_basu[k])
try:
testing.assert_allclose(bv, mv)
except AssertionError:
print('Failed: {} is supposed to be {} but is {}'.format(k, bv, mv))
# Try with lambdify
from pydy_code_gen.code import generate_ode_function
# convert the values to my coordinates and speeds
mooreInput = bicycle.basu_to_moore_input(basuInput, benchmarkPar['rR'],
benchmarkPar['lam'])
# store them in a state array
x = np.array([mooreInput[x] for x in whip.stateNames])
# calculate the derivatives of the state using my model and compare it to
# BasuMandal2007
xd = whip.f(x, 0.)
y = whip.outputs(x)
# convert the outputs from my model to the Basu-Mandal coordinates
mooreOutput = {k: v for k, v in zip(whip.outputNames, y)}
mooreOutputBasu = bicycle.moore_to_basu(mooreOutput, benchmarkPar['rR'],
benchmarkPar['lam'])
basuOutput = bicycle.basu_table_one_output()
# make an rst list table
def rst_math(s):
"""Returns the variable name as reStructuredText math notation."""
mapping = {
'x': r'x',
'y': r'y',
'z': r'z',
'theta': r'\theta',
'psi': r'\psi',
'phi': r'\phi',
'psif': r'\psi_f',