Module ImportFrom alias alias alias alias alias alias ImportFrom alias alias alias alias alias alias alias Assign AttributeStore NameLoad attr NameLoad Assign TupleStore NameStore NameStore Call NameLoad Str Assign TupleStore NameStore NameStore NameStore Call NameLoad Str Assign TupleStore NameStore NameStore NameStore Call NameLoad Str Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore Call NameLoad Str Assign NameStore Call NameLoad Str Assign NameStore ListComp Call AttributeLoad NameLoad attr NameLoad comprehension NameStore NameLoad Assign TupleStore NameStore NameStore NameStore Call NameLoad Str Assign TupleStore NameStore NameStore NameStore Call NameLoad Str Assign TupleStore NameStore NameStore NameStore Call NameLoad Str Assign TupleStore NameStore NameStore NameStore Call NameLoad Str Assign NameStore Call NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr Str Str ListLoad SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Str Str ListLoad SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Str Str ListLoad SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr Print Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad Print Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr Str BinOpSub BinOpSub BinOpMult UnaryOpUSub NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Str BinOpAdd BinOpAdd BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr Assign NameStore BinOpAdd BinOpAdd BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr Assign NameStore Dict NameLoad NameLoad NameLoad Call NameLoad BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr AttributeLoad NameLoad attr Call NameLoad BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr AttributeLoad NameLoad attr Call NameLoad BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore Call NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad NameLoad Assign NameStore Dict NameLoad NameLoad NameLoad Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore BinOpAdd BinOpAdd BinOpAdd BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult BinOpMult NameLoad NameLoad BinOpAdd BinOpAdd BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr Assign NameStore BinOpSub NameLoad BinOpMult NameLoad NameLoad Assign NameStore Call NameLoad ListComp Call AttributeLoad Call NameLoad NameLoad NameLoad attr comprehension NameStore NameLoad ListLoad NameLoad NameLoad NameLoad Assign NameStore BinOpSub Call NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Call NameLoad NameLoad Call NameLoad NameLoad NameLoad Print Call AttributeLoad Call AttributeLoad Call NameLoad NameLoad AttributeLoad NameLoad attr attr NameLoad attr Print Call AttributeLoad Call AttributeLoad Call NameLoad NameLoad AttributeLoad NameLoad attr attr NameLoad attr Print Call AttributeLoad Call AttributeLoad Call AttributeLoad Call AttributeLoad Call AttributeLoad Call AttributeLoad Call NameLoad NameLoad AttributeLoad NameLoad attr attr NameLoad attr attr NameLoad attr attr NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Str BinOpAdd BinOpAdd BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore ListComp Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore ListComp Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore Dict SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Call AttributeLoad SubscriptLoad NameLoad Index Num attr NameLoad Call AttributeLoad SubscriptLoad NameLoad Index Num attr NameLoad Call AttributeLoad SubscriptLoad NameLoad Index Num attr NameLoad Num Num Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad Assert CompareEq Call AttributeLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad attr NameLoad Num Expr Call AttributeLoad NameLoad attr NameLoad Call NameLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpMult BinOpMult NameLoad NameLoad AttributeLoad NameLoad attr Assign NameStore ListComp Call NameLoad NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore BinOpMult UnaryOpUSub NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore UnaryOpUSub Call NameLoad Call AttributeLoad NameLoad attr NameLoad Call NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpMult ListLoad Num Num Assign NameStore BinOpMult ListLoad Num Num Assign NameStore BinOpMult ListLoad Num Num For NameStore Call NameLoad Num body Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr attr BinOpMult NameLoad NameLoad Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad Call AttributeLoad BinOpAdd Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad Call NameLoad NameLoad SubscriptLoad NameLoad Index NameLoad attr attr BinOpPow SubscriptLoad NameLoad Index Num Num Assign SubscriptStore NameLoad Index NameLoad BinOpAdd SubscriptLoad NameLoad Index NameLoad SubscriptLoad NameLoad Index NameLoad Assert CompareEq Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr SubscriptLoad NameLoad Index Num Num Assert CompareEq SubscriptLoad NameLoad Index Num Num Assign NameStore BinOpMult ListLoad Num Num For NameStore Call NameLoad Num body Assign SubscriptStore NameLoad Index BinOpMult Num NameLoad Call AttributeLoad SubscriptLoad NameLoad Index BinOpAdd NameLoad Num attr Dict SubscriptLoad NameLoad Index Num Num Assign SubscriptStore NameLoad Index BinOpAdd BinOpMult Num NameLoad Num Call AttributeLoad SubscriptLoad NameLoad Index BinOpAdd NameLoad Num attr BinOpPow SubscriptLoad NameLoad Index Num Num Assign NameStore BinOpMult ListLoad Num Num For NameStore Call NameLoad Num body For NameStore Call NameLoad Num body Assign SubscriptStore NameLoad Index BinOpAdd BinOpMult Num NameLoad NameLoad Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr SubscriptLoad NameLoad Index BinOpAdd NameLoad Num Assign NameStore Dict SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Call NameLoad Str Call NameLoad Str Call NameLoad Str For NameStore Call NameLoad Num body Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr NameLoad For NameStore Call NameLoad Num body Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad Call NameLoad Str Assign NameStore Str For TupleStore NameStore NameStore NameLoad body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad Call NameLoad NameLoad AugAssignAdd NameStore Str For NameStore Call NameLoad Num body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad Call NameLoad SubscriptLoad NameLoad Index NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad Call NameLoad Str AugAssignAdd NameStore Str For TupleStore NameStore NameStore NameLoad body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad Call NameLoad NameLoad AugAssignAdd NameStore Str For NameStore Call NameLoad Num body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad Call NameLoad SubscriptLoad NameLoad Index NameLoad Import alias Assign NameStore Call AttributeLoad NameLoad attr Str Str NameLoad With Call NameLoad Str Str NameStore body Expr Call AttributeLoad NameLoad attr NameLoad
N/A sympy symbols ccode Symbol cse numbered_symbols solve sympy.physics.mechanics dynamicsymbols ReferenceFrame Vector Point inertia dot cross N/A N/A Vector simp False N/A N/A t g N/A symbols t g N/A N/A a b c N/A symbols a b c N/A N/A d e f N/A symbols d e f N/A N/A m Ixx Iyy Izz Ixy Iyz Ixz N/A symbols m Ixx Iyy Izz Ixy Iyz Ixz N/A q N/A dynamicsymbols q:3 N/A qd N/A N/A N/A qi diff t N/A qi q N/A N/A wx wy wz N/A symbols wx wy wz N/A N/A rx ry rz N/A symbols rx ry rz N/A N/A Fx Fy Fz N/A symbols Fx Fy Fz N/A N/A mu_x mu_y mu_z N/A symbols mu_x mu_y mu_z N/A N N/A ReferenceFrame N N/A Y N/A N/A N orientnew Y Axis N/A N/A q N/A 0 N/A N z N/A L N/A N/A Y orientnew L Axis N/A N/A q N/A 1 N/A Y x N/A R N/A N/A L orientnew R Axis N/A N/A q N/A 2 N/A L y N/A N/A N/A R dcm Y N/A I N/A inertia R Ixx Iyy Izz Ixy Iyz Ixz N/A N/A N/A I express Y N/A P N/A Point P N/A O N/A N/A P locatenew O N/A N/A N/A N/A rx N/A R x N/A rx N/A R y N/A rx N/A R z N/A RO N/A N/A O locatenew RO N/A N/A N/A d N/A R x N/A e N/A R y N/A f N/A R z N/A w_r_n N/A N/A N/A wx N/A R x N/A wy N/A R y N/A wz N/A R z N/A omega_dict N/A wx wy wz N/A dot N/A N/A qd N/A 0 N/A Y z N/A R x N/A dot N/A N/A qd N/A 0 N/A Y z N/A R y N/A dot N/A N/A qd N/A 0 N/A Y z N/A R z N/A v_ro_n N/A cross w_r_n N/A N/A RO pos_from P N/A a_ro_n N/A cross w_r_n v_ro_n N/A mu_dict N/A mu_x mu_y mu_z N/A dot N/A R x N/A Y z N/A dot N/A R y N/A Y z N/A dot N/A R z N/A Y z N/A F_RO N/A N/A N/A N/A Fx N/A R x N/A Fy N/A R y N/A Fz N/A R z N/A N/A m g N/A N/A N/A mu_x N/A R x N/A mu_y N/A R y N/A mu_z N/A R z N/A newton_eqn N/A F_RO N/A m a_ro_n N/A force_scalars N/A solve N/A N/A N/A N/A dot newton_eqn uv expand N/A uv R N/A Fx Fy Fz N/A euler_eqn N/A N/A cross N/A N/A P pos_from RO F_RO N/A cross w_r_n N/A dot I w_r_n N/A N/A N/A N/A N/A N/A dot euler_eqn N/A R x subs omega_dict expand N/A N/A N/A N/A N/A N/A dot euler_eqn N/A R y subs omega_dict expand N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A dot euler_eqn N/A R z subs omega_dict expand subs force_scalars expand subs mu_dict expand N/A RO N/A N/A O locatenew RO N/A N/A N/A d N/A R x N/A e N/A R y N/A f N/A R z N/A N/A N/A RO set_vel N v_ro_n N/A N/A N/A O v2pt_theory RO N R N/A partial_w N/A N/A N/A N/A N/A R ang_vel_in N diff qdi N N/A qdi qd N/A partial_v_RO N/A N/A N/A N/A N/A RO vel N diff qdi N N/A qdi qd N/A steady_dict N/A N/A qd N/A 1 N/A qd N/A 2 N/A N/A N/A qd N/A 0 diff t N/A N/A N/A qd N/A 1 diff t N/A N/A N/A qd N/A 2 diff t 0 0 0 0 0 N/A N/A N/A O set_vel N N/A N/A N/A N/A O vel N subs steady_dict N/A N/A N/A RO set_vel N N/A N/A N/A N/A RO vel N subs steady_dict N/A N/A N/A R set_ang_vel N N/A N/A N/A N/A R ang_vel_in N subs steady_dict N/A N/A N/A N/A N/A N/A N/A N/A RO vel N diff t R subs steady_dict 0 N/A N/A N/A RO set_acc N N/A cross N/A N/A R ang_vel_in N N/A N/A RO vel N N/A F_RO N/A N/A m g N/A Y z N/A gaf_RO N/A N/A dot F_RO pv N/A pv partial_v_RO N/A R_star N/A N/A m N/A N/A RO acc N N/A T_star N/A N/A cross N/A N/A R ang_vel_in N N/A dot I N/A N/A R ang_vel_in N N/A f_r N/A N/A 0 3 N/A f_r_star N/A N/A 0 3 N/A f_dyn N/A N/A 0 3 N/A i N/A range 3 N/A N/A N/A f_r N/A i N/A N/A N/A N/A N/A gaf_RO N/A i expand collect N/A m g N/A N/A f_r_star N/A i N/A N/A N/A N/A N/A N/A dot R_star N/A partial_v_RO N/A i N/A dot T_star N/A partial_w N/A i expand collect N/A N/A qd N/A 0 2 N/A N/A f_dyn N/A i N/A N/A f_r N/A i N/A f_r_star N/A i N/A N/A N/A N/A N/A f_dyn N/A i diff N/A q N/A 0 0 N/A N/A N/A f_dyn N/A 0 0 N/A h N/A N/A 0 4 N/A i N/A range 2 N/A N/A N/A h N/A N/A 2 i N/A N/A N/A f_dyn N/A N/A i 1 subs N/A N/A qd N/A 0 0 N/A N/A h N/A N/A N/A 2 i 1 N/A N/A N/A f_dyn N/A N/A i 1 coeff N/A N/A qd N/A 0 2 N/A dh N/A N/A 0 8 N/A i N/A range 4 N/A N/A j N/A range 2 N/A N/A N/A dh N/A N/A N/A 2 i j N/A N/A N/A h N/A i diff N/A q N/A N/A j 1 N/A symbol_dict N/A N/A q N/A 1 N/A q N/A 2 N/A qd N/A 0 N/A Symbol q1 N/A Symbol q2 N/A Symbol qd0 N/A i N/A range 4 N/A N/A N/A h N/A i N/A N/A N/A h N/A i subs symbol_dict N/A i N/A range 8 N/A N/A N/A dh N/A i N/A N/A N/A dh N/A i subs symbol_dict N/A N/A z h_red N/A cse h N/A numbered_symbols z N/A output_code   // Intermediate variables for h's
 N/A N/A zi_lhs zi_rhs z N/A N/A output_code N/A N/A   {0} = {1};
 format zi_lhs N/A ccode zi_rhs N/A output_code 
  // h's
 N/A i N/A range 4 N/A N/A output_code N/A N/A   h[{0}] = {1};
 format i N/A ccode N/A h_red N/A i N/A N/A z dh_red N/A cse dh N/A numbered_symbols z N/A output_code 
  // Intermediate variables for dh's
 N/A N/A zi_lhs zi_rhs z N/A N/A output_code N/A N/A   {0} = {1};
 format zi_lhs N/A ccode zi_rhs N/A output_code 
  // dh's
 N/A i N/A range 8 N/A N/A output_code N/A N/A   dh[{0}] = {1};
 format i N/A ccode N/A dh_red N/A i N/A re N/A output_code N/A N/A re sub z(\d+) z[\1] output_code N/A N/A open ellipsoid_no_slip_steady.txt w f N/A N/A N/A N/A f write output_code