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),)