Variables
list	f

list	fu

list	fuu

list	fux

list	fx

list	fxu

list	fxx

	g_ = Symbol('g_')

	l_ = Symbol('l_')

	m_c_ = Symbol('m_c_')

	m_p_ = Symbol('m_p_')

	tddot

	tdot = Symbol('tdot')

	theta = Symbol('theta')

	u = Symbol('u')

tuple	xddot = (u + m_p_ * sin(theta) * (l_ * (tdot * tdot) + g_ * cos(theta)))/(m_c_ + m_p_ * (sin(theta) * sin(theta)))

	xdot = Symbol('xdot')

Variable Documentation

list gen_second_order_dynamics.f

Initial value:

 = [
     xdot, tdot, xddot, tddot
 ]

Definition at line 17 of file gen_second_order_dynamics.py.

list gen_second_order_dynamics.fu

Initial value:

 = [
     0, 0, diff(xddot, u), diff(tddot, u)
 ]

Definition at line 29 of file gen_second_order_dynamics.py.

list gen_second_order_dynamics.fuu

Initial value:

 = [
     0, 0, diff(diff(xddot, u), u), diff(diff(tddot, u), u)
 ]

Definition at line 33 of file gen_second_order_dynamics.py.

list gen_second_order_dynamics.fux

Initial value:

 = [
     # d/dx, d/dtheta, d/dxdot, d/dtdot
     [0, 0, 0, 0],
     [0, 0, 0, 0],
     [0, diff(diff(xddot, u), theta), 0, diff(diff(xddot, u), tdot)],
     [0, diff(diff(tddot, u), theta), 0, diff(diff(tddot, u), tdot)]
 ]

Definition at line 71 of file gen_second_order_dynamics.py.

list gen_second_order_dynamics.fx

Initial value:

 = [
     # d/dx, d/dtheta, d/dxdot, d/dtdot
     [0, 0, 1, 0],
     [0, 0, 0, 1],
     [0, diff(xddot, theta), 0, diff(xddot, tdot)],
     [0, diff(tddot, theta), 0, diff(tddot, tdot)]
 ]

Definition at line 21 of file gen_second_order_dynamics.py.

list gen_second_order_dynamics.fxu

Initial value:

 = [
     [0, 0, 0, 0],
     [0, 0, 0, 0],
     [0, diff(diff(xddot, theta), u), 0, diff(diff(xddot, tdot), u)],
     [0, diff(diff(tddot, theta), u), 0, diff(diff(tddot, tdot), u)]
 ]

Definition at line 79 of file gen_second_order_dynamics.py.

list gen_second_order_dynamics.fxx

Initial value:

 = [
     [
         [0, 0, 0, 0],
         [0, 0, 0, 0],
         [0, 0, 0, 0],
         [0, 0, 0, 0]
     ], # fx_x
     [
         [0, 0, 0, 0],
         [0, 0, 0, 0],
         [0, diff(diff(xddot, theta), theta), 0, diff(diff(xddot, tdot), theta)],
         [0, diff(diff(tddot, theta), theta), 0, diff(diff(tddot, tdot), theta)]
     ], # fx_theta
     [
         [0, 0, 0, 0],
         [0, 0, 0, 0],
         [0, 0, 0, 0],
         [0, 0, 0, 0]
     ], # fx_xdot
     [
         [0, 0, 0, 0],
         [0, 0, 0, 0],
         [0, diff(diff(xddot, theta), tdot), 0, diff(diff(xddot, tdot), tdot)],
         [0, diff(diff(tddot, theta), tdot), 0, diff(diff(tddot, tdot), tdot)]
     ], # fx_tdot
 ]