
    g              
       	   d dl mc mZ d dlZd dlZd dlZ	 ej
        d          Z ej
        d          Zd Z ej        eddd          Z ej        d          Z ej        d          Z ej        d ej        d           ej        d	                    Z ej        d
 ej        d           ej        d	                    Z ej        d          \  ZZZ ej        dd          \  ZZZ ej        d          Ze                    ed             ej
        d          Z  ej!        dee  ej"        d	           ej#        e j$        e j$                  ef          Z%e&                    ej'        eej$        z             de(                    ej'                  z  eej)        z  z   Z*e+                    eeej,        z             de-                    e          z  eej)        z  z   Z*e +                    eeej,        z             de -                    e          z  eej)        z  z   Z*e.                    ee-                    e          /                    e                     de0                    e          z  eej)        z  z   Z*ej'                            eeej$        z  eej)        z  z              e1                    eeej)        z              ej2        e3                    e          ej'        4                    e                    Z5e5Z6de6z  Z7e7dz  Z8dez  ez  ez  Z9e9dez  z  Z9dez  Z9 ej        d          \  Z:Z;Z<Z= ej        dd          \  Z>Z?Z@ZA ej        d          \  Z$Z) ej        dd          \  ZBZC ej        dd          \  ZDZE ej        d          ZFe$eBdz  z  dz   ZF ejG        d gg          Zde$z  ed <    ejH        ejI        d           ejG        d gg                    Zde)z  eejI        d          dz
  <   ded          z  Z ejG        g d          J                    dd          Zded<   ed         dz  Ze:ej$        z  ZKe;ej,        z  ZLe:ej$        z  e;ej)        z  z   ZKeKdz  ZMdS )    Nna   po1po2p1p1_ptmp2p2_ptzc1 c2 c3zc1_ c2_ c3_r_cmr_fr      zq1 q2 u1 u2zq1_ q2_ u1_ u2_zx yzx_ y_yy)	r   r   r                  	   r   )r   r   )Nsympy.physics.mechanicsphysics	mechanics_mesympy_smmathr
   numpy_npReferenceFrameframe_nframe_ar   inertiadPoint	point_po1	point_po2ParticleSymbolparticle_p1particle_p2dynamicsymbolsc1c2c3c1_dc2_dc3_d	body_r_cmset_velbody_r_f	RigidBodysymbolsouterxbody_rset_pospointpos_fromyvset_ang_velz
ang_vel_inset_ang_accdt
ang_acc_inset_acccrossaccvelv_ax_b_cx_b_d	a_b_c_d_ea_b_cq1q2u1u2q1_dq2_du1_du2_dx_dy_dx_ddy_ddr   Matrix
row_insertshapereshapeforce_rotorque_af     i/var/www/html/ai-engine/env/lib/python3.11/site-packages/sympy/parsing/autolev/test-examples/ruletest9.py<module>rg      s   % % % % % % % % %            
#
S
!
!
#
S
!
!CKAq!!CIe	CIe	cl47!3!3ZSZ__EEcl47!3!3ZSZ__EES
++
B%3%mQ77 dDCIf	 	  '1   3e$$	sIxS1A1AICIhjYaYcDdDdenCo	p	p 	  +#R	\ 2 2 2i*+++BwyL8   GR	\ * * *g!!!"WY,.   Wbl + + +h'"""2gi</   Gg0099==gFF G G Gg!!!"WY,.    '2gi<79#< = = = 	  '2gi< ( ( (ci	g&&(9(=(=g(F(FGG	%!G		"R
 2
B$##M22BB++,=qAA dD$s%  13gq))SS++
dSsAvXaZCJus!ALZSZ!..//A#!'!*Q,adFCJ"""##++Aq11	
#dGAIgi<gi<gi<"WY,&QJre   