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A reference frame in classical mechanics.

ReferenceFrame is a class used to represent a reference frame in classical
mechanics. It has a standard basis of three unit vectors in the frame's
x, y, and z directions.

It also can have a rotation relative to a parent frame; this rotation is
defined by a direction cosine matrix relating this frame's basis vectors to
the parent frame's basis vectors.  It can also have an angular velocity
vector, defined in another frame.

src/s/y/sympy-HEAD/sympy/physics/mechanics/functions.py   sympy(Download)
           'Lagrangian']
 
from sympy.physics.mechanics.essential import (Vector, Dyadic, ReferenceFrame,
                                               MechanicsStrPrinter,
                                               MechanicsPrettyPrinter,

src/s/y/sympy-HEAD/sympy/physics/mechanics/rigidbody.py   sympy(Download)
from sympy import sympify
from sympy.physics.mechanics.point import Point
from sympy.physics.mechanics.essential import ReferenceFrame, Dyadic
 
 

src/s/y/sympy-HEAD/sympy/physics/mechanics/kane.py   sympy(Download)
from sympy.core.compatibility import reduce
from sympy.utilities import default_sort_key
from sympy.physics.mechanics.essential import ReferenceFrame, dynamicsymbols
from sympy.physics.mechanics.particle import Particle
from sympy.physics.mechanics.point import Point