U
    L?hâ  ã                   @   sh  d dl m  mZ d dlZd dlZd dlZ	ej
ddd\ZZZZe d¡\ZZZZe dd¡\ZZZZe dd	¡\ZZe d
¡Ze d¡Ze ed ¡ e d¡Ze  deee 
d¡e !ej"ej"¡ef¡Z#e d¡Z$e$ ed ¡ e d¡Z%e  de$e%e 
d¡e !e%j"e%j"¡e$f¡Z&e 'edeej(g¡ e% 'edeej)g¡ e d¡Z*eed	  d	 Z+e ,e*e+ej) ¡ e$ ,e*eej) ¡ e -eeej( ¡ e% -eeej) ¡ e* ed ¡ e .e*ee¡ e$ .e*ee¡ e 
d¡Z/e/e#_0e 
d¡Z1e1e&_0de/ d	e+ d	  Z2e2Z3d Z4de1 ed	  Z5de1 ed	 ed	   Z6de1 ed	  Z7e 8ee2e3e4d d d ¡efe#_8e 8e%e5e6e7d d d ¡e$fe&_8e#j0eej)  Z9e&j0eej)  Z:ee ee gZ;e#j<e#j0eej)  fe&j<e&j0eej)  fgZ=ej>eeegeege;dZ?e? @e#e&ge=¡\ZAZBeAeB ZCd dlDmEZE eEe?edededede/de1dii ee	 Fd¡ee	 Fd¡ed ed ie	 Gdd d!¡d"ZHeH I¡ Z(dS )#é    Nzg lb w hT)Úrealztheta phi omega alphaztheta_ phi_ omega_ alpha_é   ztheta_ phi_é   ÚnZa_cmZa_fÚaÚmZb_cmZb_fÚbZAxisÚoÚmaÚmbgUUUUUUµ?)Zq_indZu_indÚkd_eqs)ÚSystemg…ëQ¸ž#@gš™™™™™É?gš™™™™™¹?g{®Gáz„?éZ   g      à?g        é
   g     @@)Ú	constantsZ
specifiedsZinitial_conditionsÚtimes)JZsympy.physics.mechanicsZphysicsZ	mechanicsZ_meZsympyZ_smÚmathr   ÚnumpyZ_npÚsymbolsÚgZlbÚwÚhZdynamicsymbolsÚthetaÚphiÚomegaÚalphaZtheta_dZphi_dZomega_dZalpha_dZtheta_ddZphi_ddZReferenceFrameZframe_nZPointZ	body_a_cmZset_velZbody_a_fZ	RigidBodyÚouterÚxZbody_aZ	body_b_cmZbody_b_fZbody_bZorientÚyÚzZpoint_oZlaZset_posZset_ang_velZv2pt_theoryr
   Zmassr   ZiaxxZiayyZiazzZibxxZibyyZibzzZinertiaZforce_aZforce_br   Z
masscenterZ	forceListZKanesMethodZkaneZkanes_equationsÚfrZfrstarÚzeroZpydy.systemr   Zdeg2radZlinspaceÚsysZ	integrate© r#   r#   úv/var/www/html/venv/lib/python3.8/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/chaos_pendulum.pyÚ<module>   sj   


(

(


,ý