Module ImportFrom alias alias alias 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 Call NameLoad Str Assign TupleStore NameStore NameStore NameStore Call NameLoad Str Assign 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 NameStore Call NameLoad Str Assign NameStore ListComp Call AttributeLoad NameLoad attr NameLoad comprehension NameStore NameLoad Assign NameStore Call NameLoad Str Assign NameStore Call NameLoad Str Assign NameStore Call NameLoad Str Assign NameStore ListComp Call AttributeLoad NameLoad attr NameLoad comprehension NameStore NameLoad 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 Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd BinOpAdd BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr Assign NameStore Call NameLoad Str Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd BinOpAdd BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr Assign NameStore ListComp Call NameLoad NameLoad AttributeLoad NameLoad attr comprehension NameStore NameLoad Assign NameStore BinOpDiv BinOpDiv BinOpDiv SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num NameLoad Assign NameStore BinOpDiv BinOpDiv BinOpDiv SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num NameLoad Assign NameStore BinOpSub Num BinOpMult BinOpAdd BinOpDiv BinOpPow SubscriptLoad NameLoad Index Num Num NameLoad BinOpDiv BinOpPow SubscriptLoad NameLoad Index Num Num NameLoad BinOpPow BinOpDiv BinOpDiv Num Num SubscriptLoad NameLoad Index Num Num 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 Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd Call AttributeLoad NameLoad attr NameLoad Call NameLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str BinOpAdd BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd Call AttributeLoad NameLoad attr NameLoad Call NameLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore ListLoad BinOpDiv BinOpSub BinOpMult SubscriptLoad NameLoad Index Num Call NameLoad SubscriptLoad NameLoad Index Num BinOpMult SubscriptLoad NameLoad Index Num Call NameLoad SubscriptLoad NameLoad Index Num Call NameLoad SubscriptLoad NameLoad Index Num BinOpAdd BinOpMult SubscriptLoad NameLoad Index Num Call NameLoad SubscriptLoad NameLoad Index Num BinOpMult SubscriptLoad NameLoad Index Num Call NameLoad SubscriptLoad NameLoad Index Num BinOpAdd SubscriptLoad NameLoad Index Num BinOpMult Call NameLoad SubscriptLoad NameLoad Index Num BinOpSub BinOpMult SubscriptLoad NameLoad Index Num Call NameLoad SubscriptLoad NameLoad Index Num BinOpMult SubscriptLoad NameLoad Index Num Call NameLoad SubscriptLoad NameLoad Index Num Call NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad AttributeLoad NameLoad attr Call NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad AttributeLoad NameLoad attr Assign NameStore ListComp Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad comprehension NameStore BinOpAdd NameLoad NameLoad Assign NameStore ListComp Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad comprehension NameStore BinOpAdd NameLoad NameLoad Assign NameStore ListComp Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad comprehension NameStore BinOpAdd NameLoad NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr Dict SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr Dict SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr Dict SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num Num Num Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd BinOpAdd BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr BinOpMult SubscriptLoad NameLoad Index Num AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd Call AttributeLoad Call AttributeLoad NameLoad attr NameLoad attr NameLoad NameLoad Call NameLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad ListComp BinOpMult NameLoad NameLoad comprehension TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad Call NameLoad Num Assign NameStore BinOpMult BinOpMult NameLoad NameLoad AttributeLoad NameLoad attr Assign NameStore BinOpMult UnaryOpUSub NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore ListComp Call NameLoad NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore ListComp Call NameLoad NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore ListComp Call NameLoad NameLoad NameLoad comprehension NameStore NameLoad Assign NameStore BinOpMult UnaryOpUSub NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpSub UnaryOpUSub Call NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Call NameLoad Call AttributeLoad NameLoad attr NameLoad Call NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad ListComp BinOpMult Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad comprehension NameStore NameLoad Call NameLoad Num Assign NameStore Call NameLoad ListComp BinOpMult Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad comprehension NameStore NameLoad Call NameLoad Num For NameStore NameLoad body Assert CompareEq Call AttributeLoad NameLoad attr NameLoad NameLoad Num Assert CompareEq Call AttributeLoad NameLoad attr NameLoad NameLoad Num Assign NameStore Call AttributeLoad NameLoad attr Dict SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num Num Num Assign NameStore Call AttributeLoad NameLoad attr Dict SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Num Num Num For NameStore NameLoad body Assert CompareEq Call AttributeLoad NameLoad attr NameLoad NameLoad Num Assert CompareEq Call AttributeLoad NameLoad attr NameLoad NameLoad Num Assign NameStore ListLoad Assign NameStore ListLoad For NameStore Call NameLoad Call NameLoad BinOpAdd NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr BinOpAdd Call NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad Call NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad Expr Call AttributeLoad NameLoad attr BinOpAdd Call NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad Call NameLoad SubscriptLoad NameLoad Index NameLoad NameLoad Assign NameStore BinOpMult ListLoad Num Num Assign NameStore BinOpMult ListLoad Num Num For NameStore Call NameLoad Num body Assign SubscriptStore NameLoad Index NameLoad UnaryOpUSub BinOpAdd BinOpAdd BinOpAdd SubscriptLoad NameLoad Index NameLoad SubscriptLoad NameLoad Index NameLoad SubscriptLoad NameLoad Index NameLoad SubscriptLoad NameLoad Index NameLoad 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 NameLoad Assign NameStore BinOpMult ListLoad Num Num For NameStore Call NameLoad Num body Assign SubscriptStore NameLoad Index NameLoad UnaryOpUSub BinOpAdd BinOpAdd BinOpAdd SubscriptLoad NameLoad Index BinOpAdd NameLoad Num SubscriptLoad NameLoad Index BinOpAdd NameLoad Num SubscriptLoad NameLoad Index BinOpAdd NameLoad Num SubscriptLoad NameLoad Index BinOpAdd NameLoad Num Assert CompareEq SubscriptLoad NameLoad Index BinOpAdd NameLoad Num SubscriptLoad NameLoad Index NameLoad Assign NameStore BinOpDiv BinOpAdd BinOpMult NameLoad Call NameLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Call NameLoad Call AttributeLoad NameLoad attr NameLoad Call NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad Num Assign NameStore BinOpMult BinOpMult UnaryOpUSub NameLoad NameLoad Call NameLoad Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr Assign NameStore Call NameLoad Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore BinOpMult ListLoad Num Num For TupleStore NameStore NameStore Call NameLoad SubscriptLoad NameLoad Slice Num body For TupleStore NameStore NameStore Call NameLoad BinOpAdd NameLoad NameLoad body Assign SubscriptStore NameLoad Index BinOpAdd BinOpMult Num NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad For TupleStore NameStore NameStore Call NameLoad BinOpAdd SubscriptLoad NameLoad Slice Num Num NameLoad body For TupleStore NameStore NameStore Call NameLoad BinOpAdd NameLoad NameLoad body Assign SubscriptStore NameLoad Index BinOpAdd BinOpMult Num BinOpAdd NameLoad Num NameLoad Call AttributeLoad NameLoad attr NameLoad For TupleStore NameStore NameStore Call NameLoad NameLoad NameLoad body AugAssignAdd SubscriptStore NameLoad Index BinOpAdd BinOpMult Num BinOpAdd NameLoad Num NameLoad BinOpMult Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpAdd BinOpAdd NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad ListLoad NameLoad NameLoad BinOpAdd NameLoad NameLoad NameLoad Assign NameStore BinOpAdd NameLoad NameLoad Assign NameStore Dict SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str Call NameLoad Str For NameStore Call NameLoad Call NameLoad NameLoad body Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr NameLoad For NameStore Call NameLoad Call NameLoad NameLoad body Assign SubscriptStore NameLoad Index NameLoad Call AttributeLoad SubscriptLoad NameLoad Index NameLoad attr NameLoad For NameStore Call NameLoad Call NameLoad NameLoad 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 AugAssignAdd NameStore Str For NameStore Call NameLoad Num body For NameStore Call NameLoad Num body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad NameLoad Call NameLoad SubscriptLoad NameLoad Index BinOpAdd BinOpAdd Num BinOpMult Num NameLoad NameLoad AugAssignAdd NameStore Str For NameStore Call NameLoad Num body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad Call NameLoad SubscriptLoad NameLoad Index BinOpAdd Num NameLoad AugAssignAdd NameStore Str Assign TupleStore NameStore NameStore Call NameLoad NameLoad Call NameLoad 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 AugAssignAdd NameStore Str For TupleStore NameStore NameStore Call NameLoad ListLoad Str Str Str body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad Call NameLoad SubscriptLoad NameLoad Index BinOpAdd NameLoad Num AugAssignAdd NameStore Str AugAssignAdd NameStore Call AttributeLoad Str attr Call NameLoad SubscriptLoad NameLoad Index Num AugAssignAdd NameStore Str Assign TupleStore NameStore NameStore Call NameLoad NameLoad Call NameLoad Str For TupleStore NameStore NameStore NameLoad body AugAssignAdd NameStore BinOpAdd BinOpAdd BinOpAdd BinOpAdd Str Call NameLoad NameLoad Str Call NameLoad NameLoad Str AugAssignAdd NameStore Str For NameStore Call NameLoad Num body For NameStore Call NameLoad Num body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad NameLoad Call NameLoad SubscriptLoad NameLoad Index BinOpAdd BinOpMult Num NameLoad NameLoad AugAssignAdd NameStore Str For NameStore Call NameLoad Num body For NameStore Call NameLoad Num body AugAssignAdd NameStore Call AttributeLoad Str attr NameLoad NameLoad Call NameLoad SubscriptLoad NameLoad Index BinOpAdd BinOpAdd Num BinOpMult Num NameLoad NameLoad Import alias Assign NameStore Call AttributeLoad NameLoad attr Str Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Str NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Str NameLoad 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 acos Symbol sin cos tan cse numbered_symbols 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 N/A symbols a b N/A N/A c d e N/A symbols c d e N/A s N/A symbols s 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:5 N/A qd N/A N/A N/A qi diff t N/A qi q N/A u N/A dynamicsymbols u:3 N/A ud N/A N/A N/A ui diff t N/A ui u N/A ua N/A dynamicsymbols ua:3 N/A CF N/A dynamicsymbols Rx Ry Rz N/A r N/A dynamicsymbols r:3 N/A rd N/A N/A N/A ri diff t N/A ri r 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 I N/A inertia R Ixx Iyy Izz Ixy Iyz Ixz N/A N/A N/A R set_ang_vel N N/A N/A N/A N/A u N/A 0 N/A R x N/A N/A u N/A 1 N/A R y N/A N/A u N/A 2 N/A R z N/A P N/A Point P N/A N/A N/A P set_vel N N/A N/A N/A N/A ua N/A 0 N/A Y x N/A N/A ua N/A 1 N/A Y y N/A N/A ua N/A 2 N/A Y z N/A mu N/A N/A dot rk N/A Y z N/A rk R N/A rx N/A N/A N/A N/A mu N/A 0 N/A mu N/A 2 2 a N/A ry N/A N/A N/A N/A mu N/A 1 N/A mu N/A 2 2 b N/A rz N/A 1 N/A N/A N/A N/A N/A mu N/A 0 2 a N/A N/A N/A mu N/A 1 2 b N/A N/A N/A 1 2 N/A mu N/A 2 2 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 ry N/A R y N/A rz N/A R z N/A N/A N/A O set_vel N N/A N/A N/A P vel N N/A cross N/A N/A R ang_vel_in N N/A N/A O pos_from P N/A RO N/A N/A O locatenew RO N/A N/A d N/A R x N/A e N/A R y N/A N/A N/A RO set_vel N N/A N/A N/A P vel N N/A cross N/A N/A R ang_vel_in N N/A N/A RO pos_from P N/A qd_rhs N/A N/A N/A N/A N/A u N/A 2 N/A cos N/A q N/A 2 N/A N/A u N/A 0 N/A sin N/A q N/A 2 N/A cos N/A q N/A 1 N/A N/A N/A u N/A 0 N/A cos N/A q N/A 2 N/A N/A u N/A 2 N/A sin N/A q N/A 2 N/A N/A u N/A 1 N/A N/A tan N/A q N/A 1 N/A N/A N/A u N/A 0 N/A sin N/A q N/A 2 N/A N/A u N/A 2 N/A cos N/A q N/A 2 N/A dot N/A N/A N/A N/A P pos_from O diff t R N/A N x N/A dot N/A N/A N/A N/A P pos_from O diff t R N/A N y N/A partial_w N/A N/A N/A N/A N/A R ang_vel_in N diff ui N N/A ui N/A u ua N/A partial_v_P N/A N/A N/A N/A N/A P vel N diff ui N N/A ui N/A u ua N/A partial_v_RO N/A N/A N/A N/A N/A RO vel N diff ui N N/A ui N/A u ua N/A N/A N/A P set_vel N N/A N/A N/A N/A P vel N subs N/A N/A ua N/A 0 N/A ua N/A 1 N/A ua N/A 2 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 N/A N/A ua N/A 0 N/A ua N/A 1 N/A ua N/A 2 0 0 0 N/A N/A N/A RO set_vel N N/A N/A N/A N/A RO vel N subs N/A N/A ua N/A 0 N/A ua N/A 1 N/A ua N/A 2 0 0 0 N/A N/A N/A R set_ang_acc N N/A N/A N/A N/A ud N/A 0 N/A R x N/A N/A ud N/A 1 N/A R y N/A N/A ud N/A 2 N/A R z N/A N/A N/A RO set_acc N N/A N/A N/A N/A N/A RO vel N diff t R N/A cross N/A N/A R ang_vel_in N N/A N/A RO vel N N/A F_P N/A sum N/A N/A cf uv N/A N/A cf uv N/A zip CF Y N/A Vector 0 N/A F_RO N/A N/A m g N/A Y z N/A T_R N/A N/A s N/A N/A R ang_vel_in N N/A gaf_P N/A N/A dot F_P pv N/A pv partial_v_P N/A gaf_RO N/A N/A dot F_RO pv N/A pv partial_v_RO N/A gaf_R N/A N/A dot T_R pv N/A pv partial_w N/A R_star N/A N/A m N/A N/A RO acc N N/A T_star N/A N/A N/A dot N/A N/A R ang_acc_in N I 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 R_star_udot N/A sum N/A N/A N/A N/A R_star diff udi N udi N/A udi ud N/A Vector 0 N/A T_star_udot N/A sum N/A N/A N/A N/A T_star diff udi N udi N/A udi ud N/A Vector 0 N/A ui u N/A N/A N/A N/A N/A R_star_udot diff ui N 0 N/A N/A N/A N/A T_star_udot diff ui N 0 N/A R_star_other N/A N/A R_star subs N/A N/A ud N/A 0 N/A ud N/A 1 N/A ud N/A 2 0 0 0 N/A T_star_other N/A N/A T_star subs N/A N/A ud N/A 0 N/A ud N/A 1 N/A ud N/A 2 0 0 0 N/A udi ud N/A N/A N/A N/A N/A R_star_other diff udi N 0 N/A N/A N/A N/A T_star_other diff udi N 0 N/A gif_udot N/A N/A gif_other N/A N/A i N/A range N/A len N/A u ua N/A N/A N/A N/A gif_udot append N/A N/A dot N/A partial_w N/A i T_star_udot N/A dot N/A partial_v_RO N/A i R_star_udot N/A N/A N/A gif_other append N/A N/A dot N/A partial_w N/A i T_star_other N/A dot N/A partial_v_RO N/A i R_star_other N/A f_dyn N/A N/A 0 3 N/A M_dyn N/A N/A 0 9 N/A i N/A range 3 N/A N/A N/A f_dyn N/A i N/A N/A N/A N/A N/A gaf_P N/A i N/A gaf_RO N/A i N/A gaf_R N/A i N/A gif_other N/A i N/A j N/A range 3 N/A N/A N/A M_dyn N/A N/A N/A 3 i j N/A N/A N/A gif_udot N/A i diff N/A ud N/A j N/A f_cf N/A N/A 0 3 N/A i N/A range 3 N/A N/A N/A f_cf N/A i N/A N/A N/A N/A N/A gaf_RO N/A N/A i 3 N/A gaf_R N/A N/A i 3 N/A gif_udot N/A N/A i 3 N/A gif_other N/A N/A i 3 N/A N/A N/A gaf_P N/A N/A i 3 N/A CF N/A i N/A ke N/A N/A N/A m N/A dot N/A N/A RO vel N N/A N/A RO vel N N/A dot N/A N/A R ang_vel_in N N/A dot I N/A N/A R ang_vel_in N 2.0 N/A pe N/A N/A N/A m g N/A dot N/A N/A RO pos_from P N/A Y z N/A delta N/A acos N/A dot N/A Y z N/A R z N/A J N/A N/A 0 64 N/A N/A i de_rhs N/A enumerate N/A qd_rhs N/A 3 N/A N/A N/A j xi N/A enumerate N/A q u N/A N/A N/A J N/A N/A N/A 8 i j N/A N/A de_rhs diff xi N/A N/A i de_rhs N/A enumerate N/A N/A qd_rhs N/A 3 5 f_dyn N/A N/A N/A j xi N/A enumerate N/A q u N/A N/A N/A J N/A N/A N/A 8 N/A i 3 j N/A N/A de_rhs diff xi N/A N/A qdk qdk_rhs N/A zip qd qd_rhs N/A N/A N/A J N/A N/A N/A 8 N/A i 3 j N/A N/A N/A de_rhs diff qdk N/A N/A qdk_rhs diff xi N/A exp_ode N/A N/A qd_rhs M_dyn f_dyn N/A exp_output N/A f_cf N/A ke pe N/A ke pe delta N/A exp_jac N/A J M_dyn N/A subs_dict N/A N/A q N/A 0 N/A q N/A 1 N/A q N/A 2 N/A qd N/A 0 N/A qd N/A 1 N/A qd N/A 2 N/A u N/A 0 N/A u N/A 1 N/A u N/A 2 N/A ud N/A 0 N/A ud N/A 1 N/A ud N/A 2 N/A Symbol q0 N/A Symbol q1 N/A Symbol q2 N/A Symbol qd0 N/A Symbol qd1 N/A Symbol qd2 N/A Symbol u0 N/A Symbol u1 N/A Symbol u2 N/A Symbol ud0 N/A Symbol ud1 N/A Symbol ud2 N/A i N/A range N/A len exp_ode N/A N/A N/A exp_ode N/A i N/A N/A N/A exp_ode N/A i subs subs_dict N/A i N/A range N/A len exp_output N/A N/A N/A exp_output N/A i N/A N/A N/A exp_output N/A i subs subs_dict N/A i N/A range N/A len exp_jac N/A N/A N/A exp_jac N/A i N/A N/A N/A exp_jac N/A i subs subs_dict N/A N/A z exp_ode_red N/A cse exp_ode N/A numbered_symbols z N/A output_code   // Intermediate variables for ODE function
 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 
  // Kinematic differential equations
 N/A i N/A range 5 N/A N/A output_code N/A N/A   dxdt[{0}] = {1};
 format i N/A ccode N/A exp_ode_red N/A i N/A output_code 
  // Mass matrix
 N/A i N/A range 3 N/A N/A j N/A range 3 N/A N/A output_code N/A N/A   M_dyn({0}, {1}) = {2};
 format i j N/A ccode N/A exp_ode_red N/A N/A N/A 5 N/A 3 i j N/A output_code 
  // Right hand side of dynamic equations
 N/A i N/A range 3 N/A N/A output_code N/A N/A   f_dyn({0}) = {1};
 format i N/A ccode N/A exp_ode_red N/A N/A 14 i N/A output_code 
  // Output quantites (evaluated at each output time-step)
 N/A N/A z exp_output_red N/A cse exp_output N/A numbered_symbols z 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 
  // Contact forces
 N/A i N/A range 3 N/A N/A output_code N/A N/A   sd->CF[{0}] = {1};
 format i N/A ccode N/A exp_output_red N/A i N/A output_code 
  // Mechanical energy
 N/A N/A i name N/A enumerate N/A ke pe te N/A N/A output_code N/A N/A   sd->{0} = {1};
 format name N/A ccode N/A exp_output_red N/A N/A i 3 N/A output_code   // Tilt of Rattleback with respect to vertical
 N/A output_code N/A N/A   sd->delta = {0};
 format N/A ccode N/A exp_output_red N/A -1 N/A output_code 
  // Intermediate quantities needed for Jacobian matrix
 N/A N/A z exp_jac_red N/A cse exp_jac N/A numbered_symbols z N/A N/A zi_lhs zi_rhs z N/A N/A output_code N/A N/A N/A N/A N/A str zi_lhs  =  N/A ccode zi_rhs ;
 N/A output_code 
  // Entries of Jacobian matrix
 N/A i N/A range 8 N/A N/A j N/A range 8 N/A N/A output_code N/A N/A   J({0}, {1}) = {2};
 format i j N/A ccode N/A exp_jac_red N/A N/A N/A 8 i j N/A output_code 
  // Entries of Mass matrix
 N/A i N/A range 3 N/A N/A j N/A range 3 N/A N/A output_code N/A N/A   M_dyn({0}, {1}) = {2};
 format i j N/A ccode N/A exp_jac_red N/A N/A N/A 64 N/A 3 i j N/A re N/A output_code N/A N/A re sub z(\d+) z[\1] output_code N/A output_code N/A N/A re sub q([01234]) x[\1] output_code N/A output_code N/A N/A re sub qd([01234]) dxdt[\1] output_code N/A output_code N/A N/A re sub u([012]) x[\1 + 5] output_code N/A output_code N/A N/A re sub ud([012]) dxdt[\1 + 5] output_code N/A N/A open paraboloid_no_slip.txt w f N/A N/A N/A N/A f write output_code