(self, otherframe)
return -Vector([(Matrix([w1, w2, w3]), self)])
Angular velocity from time differentiating the DCM.
Angular velocity from time differentiating the DCM.
Angular velocity from time differentiating the DCM .
def _w_diff_dcm(self, otherframe):
        """Angular velocity from time differentiating the DCM. """
        from sympy.physics.vector.functions import dynamicsymbols
        dcm2diff = self.dcm(otherframe)
        diffed = dcm2diff.diff(dynamicsymbols._t)
        angvelmat = diffed * dcm2diff.T
        w1 = trigsimp(expand(angvelmat[7]), recursive=True)
        w2 = trigsimp(expand(angvelmat[2]), recursive=True)
        w3 = trigsimp(expand(angvelmat[3]), recursive=True)
        return -Vector([(Matrix([w1, w2, w3]), self)])
def _w_diff_dcm ( self , otherframe ) : from sympy . physics . vector . functions import dynamicsymbols dcm2diff = self . dcm ( otherframe ) diffed = dcm2diff . diff ( dynamicsymbols . _t ) angvelmat = diffed * dcm2diff . T w1 = trigsimp ( expand ( angvelmat [ 7 ] ) , recursive = True ) w2 = trigsimp ( expand ( angvelmat [ 2 ] ) , recursive = True ) w3 = trigsimp ( expand ( angvelmat [ 3 ] ) , recursive = True ) return - Vector ( [ ( Matrix ( [ w1 , w2 , w3 ] ) , self ) ] )