
    ge                     @    d dl mZmZmZmZ d dlmZmZmZm	Z	m
Z
 d ZdS )    )cossinMatrixsymbols)dynamicsymbolsReferenceFramePointKanesMethodParticlec                     t          d          \  } }t          dd          \  }}t          d          \  }}t          d          \  }}t          d          }|                    dd| |j        f          }	|	                    d	d||j        f          }
t          d
          }|                    |d           |                    d||	j        z            }|	                    |||	           |                    d||
j        z            }|	                    |||
           t          d||          }t          d||          }t          d          \  }}||z  ||z  z   |j        z  }|	|f|
| fg}||z
  ||z
  g}||z
  |||z   z
  g}t          || |g||g|          }|                    ||g|          \  }}t          || |g||g|          }|                    ||g|          \  }}t          ||dz  z  t          |          z  |dz  z  ||z  z   |||z
  z  z   g||dz  z  t          |          z  |dz   z  ||z  z
  |||z
  z  z
  gg          }t          d|z  |dz  z  ||dz  z  t          |          z  g||dz  z  t          |          z  ||dz  z  gg          }|j                                        |                                k    sJ |j                                        |                                k    sJ t          d||z  ||z  z    g          }|                                |                                k    sJ t          ||z  |||z
  z  z   | |z  |||z
  z  z
  g          }|                                |                                k    sJ ||z  ||z  z   |j        z  }|	|f|
| fg}t          || |g||g|          }|                    ||g|          \  }}|                                |                                k    sJ ||z  |||z
  z  z   |j        z  }|	|f|
| fg}t          || |g||g|          }|                    ||g|          \  }}|                                |                                k    sJ ||z  ||dz  z  z   |j        z  }|	|f|
| fg}t          || |g||g|          }|                    ||g|          \  }}t          d||z  ||dz  z  z    g          } |                                |                                 k    sJ t          || |g||g|          }|                    ||g|          \  }}t          ||z  |||z
  dz  z  z   | |z  |||z
  dz  z  z
  g          }!|                                |!                                k    sJ d S )Nzq1, q2   )levelzu1, u2zl, mNAAxisBOr   PQApBpzsigma, delta)kd_eqs      )r   r   r   	orientnewzr	   set_vel	locatenewxv2pt_theoryr   r
   kanes_equationsr   r   r   mass_matrixexpandforcing)"q1q2qd1qd2u1u2lmr   r   r   r   r   r   r   r   sigdeltaTaforceskde1kde2KM1fr1fstar1KM2fr2fstar2forcing_matrix_expectedmass_matrix_expectedfr1_expectedfr2_expectedfr1_cubic_expectedfr2_cubic_expecteds"                                     d/var/www/html/ai-engine/env/lib/python3.11/site-packages/sympy/physics/mechanics/tests/test_kane4.pytest_replace_qdots_in_forcer@      s    H%%FBha000HCH%%FB6??DAqsA	C"ac++A	C"ac++Ac

AIIaOOO	C1qs7%%AMM!Q	C1qs7%%AMM!Q	$1		B	$1		B ((JC
(US[
 AC	'B"gB3x F Hb3hDHbC#I&'D
a"bB8D
9
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9C%%r2h77KC
a"bB8D
9
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9C%%r2h77KC
 %!ad(SWW*<r1u*DsRx*O*/27*;+< )=*+ad(SWW*<Av*Eb*P*/27*;+< )='? A A "q1uq!t|QAXB5G%I&'!Q$hR&8!ad($D$G I I O""$$(<(C(C(E(EEEEEK  $;$B$B$D$DDDDD AR%"*!45788L::<<<..000000 38erBw&77!EBJ"r')::< = =L::<<<..000000 (URZ
13	&B"gB3x F
a"bB8D
9
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9C%%r2h77KC::<<<..000000
(Ube_
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a"bB8D
9
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9C%%r2h77KC::<<<..000000 (US!V^
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a"bB8D
9
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9C%%r2h77KC!s2vA'=%> @AA::<<-44666666
a"bB8D
9
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9C%%r2h77KCrER"WqL,@!@!EBJ"r'A)==!? @ @ ::<<-4466666666    N)sympyr   r   r   r   sympy.physics.mechanicsr   r   r	   r
   r   r@    rA   r?   <module>rE      s    - - - - - - - - - - - -? ? ? ? ? ? ? ? ? ? ? ? ? ?h7 h7 h7 h7 h7rA   