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src/s/y/SymPyBotics-HEAD/sympybotics/dynamics/rne_park.py   SymPyBotics(Download)
from sympy import zeros, eye
from .extra_dyn import frictionforce, driveinertiaterm
from ..utils import sym_skew as skew
from ..utils import identity
 
 
    fric = frictionforce(rbtdef)
    Idrive = driveinertiaterm(rbtdef)
 
    # Backward

src/s/y/SymPyBotics-HEAD/sympybotics/dynamics/rne_khalil.py   SymPyBotics(Download)
from sympy import zeros, eye, Matrix
from .extra_dyn import frictionforce, driveinertiaterm
from ..utils import sym_skew as skew
from ..utils import identity
 
 
    fric = frictionforce(rbtdef)
    Idrive = driveinertiaterm(rbtdef)
 
    # Backward