def cleanup(self): symbolDictionary = dict(zip(self.state + self.velocity, self.cleanState + self.cleanVelocity)) N = len(self._fullCoordinate) cleanMatrix = Matrix([simplify(element).subs(symbolDictionary) for element in self.mass]) self._cleanMass = list([cleanMatrix.reshape(N, N)]) self._cleanForce = [simplify(element).subs(symbolDictionary) for element in self.force] self.SpecialFunctions(symbolDictionary) self.cleanConstraint = simplify(self.constraint_equation.subs(symbolDictionary)) self.cleanConstraintForce = [simplify(element).subs(symbolDictionary) for element in self.virtualForce] self.cleanNullForce = self.nullForce
def cleanup(self): self.cleanState = symbols(self.dofNames) self.cleanVelocity = symbols(['d'+name for name in self.dofNames]) symdict = dict(zip(self.state+self.velocity, self.cleanState+self.cleanVelocity)) cleanMatrix = Matrix([simplify(element).subs(symdict) for element in self.mass]) self.cleanMass = list([cleanMatrix.reshape(self.degreesOfFreedom, self.degreesOfFreedom)]) self.cleanForce = [simplify(element).subs(symdict) for element in self.force] self.cleanConstraint = simplify(self.constraint_equation.subs(symdict)) self.cleanConstraintForce = [simplify(element).subs(symdict) for element in self.virtualForce] self.cleanNullForce = self.nullForce
