diff --git a/notebooks/kinematics.nb b/notebooks/kinematics.nb deleted file mode 100644 index 607d4d1c..00000000 --- a/notebooks/kinematics.nb +++ /dev/null @@ -1,598 +0,0 @@ -(* Content-type: application/vnd.wolfram.mathematica *) - -(*** Wolfram Notebook File ***) -(* http://www.wolfram.com/nb *) - -(* CreatedBy='Mathematica 12.0' *) - -(*CacheID: 234*) -(* Internal cache information: -NotebookFileLineBreakTest -NotebookFileLineBreakTest -NotebookDataPosition[ 158, 7] -NotebookDataLength[ 21966, 590] -NotebookOptionsPosition[ 20530, 560] -NotebookOutlinePosition[ 20867, 575] -CellTagsIndexPosition[ 20824, 572] -WindowFrame->Normal*) - -(* Beginning of Notebook Content *) -Notebook[{ - -Cell[CellGroupData[{ -Cell["Kinematics", "Subsection", - CellChangeTimes->{{3.823582071786221*^9, - 3.823582076986455*^9}},ExpressionUUID->"2638955b-d1e8-4e28-ba05-\ -db1765a28fd7"], - -Cell[BoxData[ - RowBox[{ - RowBox[{"T", "[", - RowBox[{"\[Alpha]_", ",", "a_", ",", "\[Theta]_", ",", "d_"}], "]"}], ":=", - RowBox[{"{", "\[IndentingNewLine]", - RowBox[{ - RowBox[{"{", - RowBox[{ - RowBox[{"Cos", "[", "\[Theta]", "]"}], ",", - RowBox[{"-", - RowBox[{"Sin", "[", "\[Theta]", "]"}]}], ",", "0", ",", "a"}], "}"}], - ",", "\[IndentingNewLine]", - RowBox[{"{", - RowBox[{ - RowBox[{ - RowBox[{"Sin", "[", "\[Theta]", "]"}], - RowBox[{"Cos", "[", "\[Alpha]", "]"}]}], ",", - RowBox[{ - RowBox[{"Cos", "[", "\[Theta]", "]"}], - RowBox[{"Cos", "[", "\[Alpha]", "]"}]}], ",", - RowBox[{"-", - RowBox[{"Sin", "[", "\[Alpha]", "]"}]}], ",", - RowBox[{ - RowBox[{"-", "d"}], " ", - RowBox[{"Sin", "[", "\[Alpha]", "]"}]}]}], "}"}], ",", - "\[IndentingNewLine]", - RowBox[{"{", - RowBox[{ - RowBox[{ - RowBox[{"Sin", "[", "\[Theta]", "]"}], " ", - RowBox[{"Sin", "[", "\[Alpha]", "]"}]}], ",", - RowBox[{ - RowBox[{"Cos", "[", "\[Theta]", "]"}], - RowBox[{"Sin", "[", "\[Alpha]", "]"}]}], ",", - RowBox[{"Cos", "[", "\[Alpha]", "]"}], ",", - RowBox[{"d", " ", - RowBox[{"Cos", "[", "\[Alpha]", "]"}]}]}], "}"}], ",", - "\[IndentingNewLine]", - RowBox[{"{", - RowBox[{"0", ",", "0", ",", "0", ",", "1"}], "}"}]}], - "\[IndentingNewLine]", "}"}]}]], "Input", - CellChangeTimes->{{3.823582093563463*^9, 3.823582186507723*^9}}, - CellLabel->"In[1]:=",ExpressionUUID->"1293ae6c-31e5-4370-8907-caad95c252d0"], - -Cell[BoxData[ - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1_", ",", "\[Theta]2_", ",", "\[Theta]3_", ",", "\[Theta]4_", ",", - "\[Theta]5_", ",", "\[Theta]6_", ",", "\[Theta]7_"}], "]"}], ":=", - RowBox[{ - RowBox[{"T", "[", - RowBox[{"0", ",", "0", ",", "\[Theta]1", ",", "0.333"}], "]"}], ".", - RowBox[{"T", "[", - RowBox[{ - RowBox[{"-", - FractionBox["\[Pi]", "2"]}], ",", "0", ",", "\[Theta]2", ",", "0"}], - "]"}], ".", - RowBox[{"T", "[", - RowBox[{ - FractionBox["\[Pi]", "2"], ",", "0", ",", "\[Theta]3", ",", "0.316"}], - "]"}], ".", - RowBox[{"T", "[", - RowBox[{ - FractionBox["\[Pi]", "2"], ",", "0.0825", ",", "\[Theta]4", ",", "0"}], - "]"}], ".", - RowBox[{"T", "[", - RowBox[{ - RowBox[{"-", - FractionBox["\[Pi]", "2"]}], ",", - RowBox[{"-", "0.0825"}], ",", "\[Theta]5", ",", "0.384"}], "]"}], ".", - RowBox[{"T", "[", - RowBox[{ - FractionBox["\[Pi]", "2"], ",", "0", ",", "\[Theta]6", ",", "0"}], "]"}], - ".", - RowBox[{"T", "[", - RowBox[{ - FractionBox["\[Pi]", "2"], ",", "0.088", ",", "\[Theta]7", ",", "0"}], - "]"}], ".", - RowBox[{"T", "[", - RowBox[{"\[Pi]", ",", "0", ",", - RowBox[{"-", - FractionBox["\[Pi]", "4"]}], ",", - RowBox[{"-", "0.107"}]}], "]"}]}]}]], "Input", - CellChangeTimes->{{3.823582198644116*^9, 3.823582337516674*^9}, { - 3.823582386285802*^9, 3.823582419461158*^9}, {3.823582453054434*^9, - 3.82358249544624*^9}}, - CellLabel->"In[2]:=",ExpressionUUID->"d8b24c1a-4cdd-43ed-9ee4-98459c265c06"], - -Cell[BoxData[ - RowBox[{ - RowBox[{"pM", "=", - RowBox[{"Simplify", "[", - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", ",", - "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "/.", - RowBox[{"{", - RowBox[{ - RowBox[{"0.", "\[Rule]", "0"}], ",", - RowBox[{"1.", "\[Rule]", "1"}]}], "}"}]}], "]"}]}], ";"}]], "Input", - CellChangeTimes->{{3.823582623495618*^9, 3.823582655774441*^9}, { - 3.823582693975222*^9, 3.823582697862906*^9}}, - CellLabel->"In[3]:=",ExpressionUUID->"5eced034-3e4c-4a28-956f-542ef9fac943"], - -Cell[BoxData[ - RowBox[{ - RowBox[{"euler", "[", - RowBox[{ - "\[Theta]1_", ",", "\[Theta]2_", ",", "\[Theta]3_", ",", "\[Theta]4_", ",", - "\[Theta]5_", ",", "\[Theta]6_", ",", "\[Theta]7_"}], "]"}], ":=", - RowBox[{"{", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", ",", - "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "[", - RowBox[{"[", - RowBox[{"1", ",", "4"}], "]"}], "]"}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", ",", - "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "[", - RowBox[{"[", - RowBox[{"2", ",", "4"}], "]"}], "]"}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", ",", - "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "[", - RowBox[{"[", - RowBox[{"3", ",", "4"}], "]"}], "]"}], ",", "\[IndentingNewLine]", - RowBox[{"ArcTan", "[", - RowBox[{ - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", - ",", "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "[", - RowBox[{"[", - RowBox[{"2", ",", "1"}], "]"}], "]"}], "/", - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", - ",", "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "[", - RowBox[{"[", - RowBox[{"1", ",", "1"}], "]"}], "]"}]}], "]"}], ",", - "\[IndentingNewLine]", - RowBox[{"-", - RowBox[{"ArcSin", "[", - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", - ",", "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "[", - RowBox[{"[", - RowBox[{"3", ",", "1"}], "]"}], "]"}], "]"}]}], ",", - "\[IndentingNewLine]", - RowBox[{"ArcTan", "[", - RowBox[{ - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", - ",", "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "[", - RowBox[{"[", - RowBox[{"3", ",", "2"}], "]"}], "]"}], "/", - RowBox[{ - RowBox[{"p", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", - ",", "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "[", - RowBox[{"[", - RowBox[{"3", ",", "3"}], "]"}], "]"}]}], "]"}]}], - "\[IndentingNewLine]", "}"}]}]], "Input", - CellChangeTimes->{{3.823594209828718*^9, 3.823594305244712*^9}}, - CellLabel->"In[4]:=",ExpressionUUID->"25bca131-2606-4f40-956f-9b4b520b9c99"], - -Cell[BoxData[ - RowBox[{ - RowBox[{"eM", "=", - RowBox[{"Simplify", "[", - RowBox[{ - RowBox[{"euler", "[", - RowBox[{ - "\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3", ",", "\[Theta]4", ",", - "\[Theta]5", ",", "\[Theta]6", ",", "\[Theta]7"}], "]"}], "/.", - RowBox[{"{", - RowBox[{ - RowBox[{"0.", "\[Rule]", "0"}], ",", - RowBox[{"1.", "\[Rule]", "1"}]}], "}"}]}], "]"}]}], ";"}]], "Input", - CellChangeTimes->{{3.823594332044726*^9, 3.823594334756621*^9}}, - CellLabel->"In[6]:=",ExpressionUUID->"31153068-cde7-4919-97b6-1af27bb17782"], - -Cell[CellGroupData[{ - -Cell[BoxData[ - RowBox[{ - RowBox[{"{", - RowBox[{ - RowBox[{"D", "[", - RowBox[{"eM", ",", "\[Theta]1"}], "]"}], ",", - RowBox[{"D", "[", - RowBox[{"eM", ",", "\[Theta]2"}], "]"}], ",", - RowBox[{"D", "[", - RowBox[{"eM", ",", "\[Theta]3"}], "]"}], ",", - RowBox[{"D", "[", - RowBox[{"eM", ",", "\[Theta]4"}], "]"}], ",", - RowBox[{"D", "[", - RowBox[{"eM", ",", "\[Theta]5"}], "]"}], ",", - RowBox[{"D", "[", - RowBox[{"eM", ",", "\[Theta]6"}], "]"}], ",", - RowBox[{"D", "[", - RowBox[{"eM", ",", "\[Theta]7"}], "]"}]}], "}"}], ";"}]], "Input", - CellChangeTimes->{{3.8235956031590548`*^9, 3.8235957116785507`*^9}, { - 3.823602846632757*^9, 3.8236028864799213`*^9}, - 3.823751768880197*^9},ExpressionUUID->"9db25a01-77cb-4265-b9c7-\ -eac93a89fd5b"], - -Cell[BoxData[ - InterpretationBox[ - TagBox[ - FrameBox[GridBox[{ - { - ItemBox[ - TagBox[ - RowBox[{"{", - TemplateBox[{"1"}, - "OutputSizeLimit`Skeleton"], "}"}], - Short[#, 5]& ], - BaseStyle->{Deployed -> False}, - StripOnInput->False]}, - {GridBox[{ - { - PaneBox[ - TagBox[ - TooltipBox[ - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource[ - "FEStrings", "sizeBriefExplanation"], StandardForm], - ImageSizeCache->{61., {2., 8.}}], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLText", - StripOnInput->False], - StyleBox[ - DynamicBox[ - ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeExplanation"], - StandardForm]], DynamicUpdating -> True, LineIndent -> 0, - LinebreakAdjustments -> {1., 100, 0, 0, 0}, - LineSpacing -> {1, 2}, StripOnInput -> False]], - Annotation[#, - Style[ - Dynamic[ - FEPrivate`FrontEndResource["FEStrings", "sizeExplanation"]], - DynamicUpdating -> True, LineIndent -> 0, - LinebreakAdjustments -> {1., 100, 0, 0, 0}, - LineSpacing -> {1, 2}], "Tooltip"]& ], - Alignment->Center, - BaselinePosition->Baseline, - ImageSize->{Automatic, {25, Full}}], - ButtonBox[ - PaneSelectorBox[{False-> - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeShowLess"], - StandardForm], - ImageSizeCache->{54., {0., 8.}}], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLControl", - StripOnInput->False], True-> - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeShowLess"], - StandardForm], - ImageSizeCache->{54., {0., 8.}}], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLControlActive", - StripOnInput->False]}, Dynamic[ - CurrentValue["MouseOver"]], - Alignment->Center, - FrameMargins->0, - ImageSize->{Automatic, {25, Full}}], - Appearance->None, - BaselinePosition->Baseline, - - ButtonFunction:>OutputSizeLimit`ButtonFunction[ - OutputSizeLimit`Defer, 16, 29561006755129039129, 5/2], - Enabled->True, - Evaluator->Automatic, - Method->"Queued"], - ButtonBox[ - PaneSelectorBox[{False-> - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeShowMore"], - StandardForm], - ImageSizeCache->{61., {0., 8.}}], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLControl", - StripOnInput->False], True-> - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeShowMore"], - StandardForm]], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLControlActive", - StripOnInput->False]}, Dynamic[ - CurrentValue["MouseOver"]], - Alignment->Center, - FrameMargins->0, - ImageSize->{Automatic, {25, Full}}], - Appearance->None, - BaselinePosition->Baseline, - - ButtonFunction:>OutputSizeLimit`ButtonFunction[ - OutputSizeLimit`Defer, 16, 29561006755129039129, 5 2], - Enabled->True, - Evaluator->Automatic, - Method->"Queued"], - ButtonBox[ - PaneSelectorBox[{False-> - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeShowAll"], - StandardForm], - ImageSizeCache->{46., {0., 8.}}], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLControl", - StripOnInput->False], True-> - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeShowAll"], - StandardForm], - ImageSizeCache->{46., {0., 8.}}], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLControlActive", - StripOnInput->False]}, Dynamic[ - CurrentValue["MouseOver"]], - Alignment->Center, - FrameMargins->0, - ImageSize->{Automatic, {25, Full}}], - Appearance->None, - BaselinePosition->Baseline, - - ButtonFunction:>OutputSizeLimit`ButtonFunction[ - OutputSizeLimit`Defer, 16, 29561006755129039129, Infinity], - Enabled->True, - Evaluator->Automatic, - Method->"Queued"], - ButtonBox[ - PaneSelectorBox[{False-> - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeChangeLimit"], - StandardForm], - ImageSizeCache->{83., {0., 8.}}], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLControl", - StripOnInput->False], True-> - StyleBox[ - StyleBox[ - DynamicBox[ToBoxes[ - FEPrivate`FrontEndResource["FEStrings", "sizeChangeLimit"], - StandardForm]], - StripOnInput->False, - DynamicUpdating->True, - LineSpacing->{1, 2}, - LineIndent->0, - LinebreakAdjustments->{1., 100, 0, 0, 0}], "OSLControlActive", - StripOnInput->False]}, Dynamic[ - CurrentValue["MouseOver"]], - Alignment->Center, - FrameMargins->0, - ImageSize->{Automatic, {25, Full}}], - Appearance->None, - BaselinePosition->Baseline, - ButtonFunction:>FrontEndExecute[{ - FrontEnd`SetOptions[ - FrontEnd`$FrontEnd, - FrontEnd`PreferencesSettings -> {"Page" -> "Advanced"}], - FrontEnd`FrontEndToken["PreferencesDialog"]}], - Evaluator->None, - Method->"Preemptive"]} - }, - AutoDelete->False, - FrameStyle->GrayLevel[0.85], - GridBoxDividers->{"Columns" -> {False, {True}}}, - GridBoxItemSize->{"Columns" -> {{Automatic}}, "Rows" -> {{Automatic}}}, - GridBoxSpacings->{"Columns" -> {{2}}}]} - }, - DefaultBaseStyle->"Column", - GridBoxAlignment->{"Columns" -> {{Left}}, "Rows" -> {{Baseline}}}, - GridBoxDividers->{"Columns" -> {{False}}, "Rows" -> {{False}}}, - GridBoxItemSize->{"Columns" -> {{Automatic}}, "Rows" -> {{1.}}}, - GridBoxSpacings->{"Columns" -> { - Offset[0.27999999999999997`], { - Offset[0.5599999999999999]}, - Offset[0.27999999999999997`]}, "Rows" -> { - Offset[0.2], - Offset[1.2], { - Offset[0.4]}, - Offset[0.2]}}], - BaseStyle->"OutputSizeLimit", - FrameMargins->{{12, 12}, {0, 15}}, - FrameStyle->GrayLevel[0.85], - RoundingRadius->5, - StripOnInput->False], - Deploy, - DefaultBaseStyle->"Deploy"], - If[29561006755129039129 === $SessionID, - Out[16], Message[ - MessageName[Syntax, "noinfoker"]]; Missing["NotAvailable"]; - Null]]], "Output", - CellChangeTimes->{ - 3.823595603762179*^9, {3.823595635713426*^9, 3.8235956777038507`*^9}, - 3.823595712209647*^9, 3.823599409865849*^9, {3.823599459668364*^9, - 3.823599464038105*^9}, {3.823602848043659*^9, 3.823602886956541*^9}}, - CellLabel->"Out[16]=",ExpressionUUID->"38574d08-ae8e-4fc2-be09-08955360fdff"] -}, Open ]], - -Cell[CellGroupData[{ - -Cell[BoxData[{ - RowBox[{ - RowBox[{"tmp", "=", - RowBox[{"D", "[", - RowBox[{ - RowBox[{"eM", "[", - RowBox[{"[", "6", "]"}], "]"}], ",", "\[Theta]7"}], "]"}]}], - ";"}], "\[IndentingNewLine]", - RowBox[{ - RowBox[{"ToString", "[", - RowBox[{"tmp", ",", "CForm"}], "]"}], ";"}], "\[IndentingNewLine]", - RowBox[{"CopyToClipboard", "[", "%", "]"}]}], "Input", - CellChangeTimes->{{3.823594395534802*^9, 3.823594412717284*^9}, { - 3.823594895697111*^9, 3.823594908600604*^9}, {3.823594963617971*^9, - 3.823595138170384*^9}, {3.823595177571471*^9, 3.8235953003878927`*^9}, - 3.8237517626082907`*^9}, - CellLabel->"In[23]:=",ExpressionUUID->"f934a522-8b1f-4ba2-941b-f8a1252d3712"], - -Cell[BoxData[ - TemplateBox[{ - "Part","partd", - "\"Part specification \\!\\(\\*RowBox[{\\\"eM\\\", \ -\\\"\[LeftDoubleBracket]\\\", \\\"6\\\", \\\"\[RightDoubleBracket]\\\"}]\\) \ -is longer than depth of object.\"",2,23,1,29561611951775162962,"Local"}, - "MessageTemplate"]], "Message", "MSG", - CellChangeTimes->{3.8237517631418056`*^9}, - CellLabel-> - "During evaluation of \ -In[23]:=",ExpressionUUID->"00ec474b-f02f-45f7-861f-2e1395d96af0"] -}, Open ]], - -Cell[BoxData[ - RowBox[{ - RowBox[{"pelbow", "[", - RowBox[{"\[Theta]1_", ",", "\[Theta]2_", ",", "\[Theta]3_"}], "]"}], ":=", - - RowBox[{ - RowBox[{"T", "[", - RowBox[{"0", ",", "0", ",", "\[Theta]1", ",", "0.333"}], "]"}], ".", - RowBox[{"T", "[", - RowBox[{ - RowBox[{"-", - FractionBox["\[Pi]", "2"]}], ",", "0", ",", "\[Theta]2", ",", "0"}], - "]"}], ".", - RowBox[{"T", "[", - RowBox[{ - FractionBox["\[Pi]", "2"], ",", "0", ",", "\[Theta]3", ",", "0.316"}], - "]"}], ".", - RowBox[{"T", "[", - RowBox[{ - FractionBox["\[Pi]", "2"], ",", "0.0825", ",", "0", ",", "0"}], - "]"}]}]}]], "Input", - CellChangeTimes->{{3.823692303381714*^9, 3.823692313093701*^9}}, - CellLabel->"In[9]:=",ExpressionUUID->"945a2b31-754d-4fdb-8276-9e69341b497a"], - -Cell[BoxData[{ - RowBox[{ - RowBox[{"tmp", "=", - RowBox[{"pelbow", "[", - RowBox[{"\[Theta]1", ",", "\[Theta]2", ",", "\[Theta]3"}], "]"}]}], - ";"}], "\[IndentingNewLine]", - RowBox[{ - RowBox[{"ToString", "[", - RowBox[{ - RowBox[{"Simplify", "[", "tmp", "]"}], ",", "CForm"}], "]"}], - ";"}], "\[IndentingNewLine]", - RowBox[{"CopyToClipboard", "[", "%", "]"}]}], "Input", - CellChangeTimes->{{3.82369231492756*^9, 3.823692322197592*^9}, { - 3.8236923671989527`*^9, 3.823692382966064*^9}, {3.823751749664494*^9, - 3.823751764784334*^9}}, - CellLabel->"In[26]:=",ExpressionUUID->"b631774c-2d04-493b-8a99-35a0466935c8"] -}, Open ]] -}, -WindowSize->{1519, 1198}, -WindowMargins->{{Automatic, 264}, {66, Automatic}}, -FrontEndVersion->"12.0 for Linux x86 (64-bit) (April 8, 2019)", -StyleDefinitions->"Default.nb" -] -(* End of Notebook Content *) - -(* Internal cache information *) -(*CellTagsOutline -CellTagsIndex->{} -*) -(*CellTagsIndex -CellTagsIndex->{} -*) -(*NotebookFileOutline -Notebook[{ -Cell[CellGroupData[{ -Cell[580, 22, 158, 3, 55, "Subsection",ExpressionUUID->"2638955b-d1e8-4e28-ba05-db1765a28fd7"], -Cell[741, 27, 1569, 42, 147, "Input",ExpressionUUID->"1293ae6c-31e5-4370-8907-caad95c252d0"], -Cell[2313, 71, 1558, 43, 83, "Input",ExpressionUUID->"d8b24c1a-4cdd-43ed-9ee4-98459c265c06"], -Cell[3874, 116, 625, 15, 31, "Input",ExpressionUUID->"5eced034-3e4c-4a28-956f-542ef9fac943"], -Cell[4502, 133, 2978, 74, 193, "Input",ExpressionUUID->"25bca131-2606-4f40-956f-9b4b520b9c99"], -Cell[7483, 209, 580, 14, 31, "Input",ExpressionUUID->"31153068-cde7-4919-97b6-1af27bb17782"], -Cell[CellGroupData[{ -Cell[8088, 227, 801, 21, 31, "Input",ExpressionUUID->"9db25a01-77cb-4265-b9c7-eac93a89fd5b"], -Cell[8892, 250, 9008, 232, 95, "Output",ExpressionUUID->"38574d08-ae8e-4fc2-be09-08955360fdff"] -}, Open ]], -Cell[CellGroupData[{ -Cell[17937, 487, 695, 16, 78, "Input",ExpressionUUID->"f934a522-8b1f-4ba2-941b-f8a1252d3712"], -Cell[18635, 505, 443, 10, 23, "Message",ExpressionUUID->"00ec474b-f02f-45f7-861f-2e1395d96af0"] -}, Open ]], -Cell[19093, 518, 788, 22, 46, "Input",ExpressionUUID->"945a2b31-754d-4fdb-8276-9e69341b497a"], -Cell[19884, 542, 630, 15, 78, "Input",ExpressionUUID->"b631774c-2d04-493b-8a99-35a0466935c8"] -}, Open ]] -} -] -*) - diff --git a/notebooks/polynomial-blending.nb b/notebooks/polynomial-blending.nb deleted file mode 100644 index a2142d3a..00000000 --- a/notebooks/polynomial-blending.nb +++ /dev/null @@ -1,544 +0,0 @@ -(* Content-type: application/vnd.wolfram.mathematica *) - -(*** Wolfram Notebook File ***) -(* http://www.wolfram.com/nb *) - -(* CreatedBy='Mathematica 12.0' *) - -(*CacheID: 234*) -(* Internal cache information: -NotebookFileLineBreakTest -NotebookFileLineBreakTest -NotebookDataPosition[ 158, 7] -NotebookDataLength[ 23222, 536] -NotebookOptionsPosition[ 21942, 506] -NotebookOutlinePosition[ 22281, 521] -CellTagsIndexPosition[ 22238, 518] -WindowFrame->Normal*) - -(* Beginning of Notebook Content *) -Notebook[{ -Cell["Polynomial Blending", "Text", - CellChangeTimes->{{3.814779503543106*^9, - 3.8147795063429317`*^9}},ExpressionUUID->"ea1f0884-a36c-4f84-9de2-\ -d27b5afcdcc4"], - -Cell[BoxData[{ - RowBox[{ - RowBox[{"left", "[", "s_", "]"}], ":=", - RowBox[{"lb", "+", - RowBox[{"lm", " ", "s"}]}]}], "\[IndentingNewLine]", - RowBox[{ - RowBox[{"right", "[", "s_", "]"}], ":=", - RowBox[{"rb", "+", - RowBox[{"rm", " ", - RowBox[{"(", - RowBox[{"s", "+", - FractionBox[ - RowBox[{"lb", "-", "rb", "+", - RowBox[{ - RowBox[{"(", - RowBox[{"lm", " ", "-", "rm"}], ")"}], "sMid"}]}], "rm"]}], - ")"}]}]}]}], "\[IndentingNewLine]", - RowBox[{ - RowBox[{"blend", "[", "s_", "]"}], ":=", - RowBox[{ - RowBox[{"a", " ", - SuperscriptBox["s", "5"]}], "+", - RowBox[{"b", " ", - SuperscriptBox["s", "4"]}], "+", - RowBox[{"c", " ", - SuperscriptBox["s", "3"]}], "+", - RowBox[{"d", " ", - SuperscriptBox["s", "2"]}], "+", - RowBox[{"e", " ", "s"}], "+", "f"}]}]}], "Input", - CellChangeTimes->{{3.814779523518959*^9, 3.814779584287847*^9}, { - 3.8147804198139257`*^9, 3.814780430477427*^9}, {3.814780504670632*^9, - 3.814780527934971*^9}, {3.814781894335999*^9, 3.8147819444396763`*^9}}, - CellLabel->"In[3]:=",ExpressionUUID->"70d3cac5-9a8c-4a5d-93af-56b7bb88d7be"], - -Cell[CellGroupData[{ - -Cell[BoxData[ - RowBox[{"resultBlendAll", "=", - RowBox[{"Solve", "[", - RowBox[{ - RowBox[{"{", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "[", "0", "]"}], "\[Equal]", - RowBox[{"left", "[", - RowBox[{"sMid", "-", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "'"}], "[", "0", "]"}], "\[Equal]", - RowBox[{ - RowBox[{"left", "'"}], "[", - RowBox[{"sMid", "-", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "''"}], "[", "0", "]"}], "\[Equal]", - RowBox[{ - RowBox[{"left", "''"}], "[", - RowBox[{"sMid", "-", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{"blend", "[", - RowBox[{"2", "sAbs"}], "]"}], "\[Equal]", - RowBox[{"right", "[", - RowBox[{"sMid", "+", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "'"}], "[", - RowBox[{"2", "sAbs"}], "]"}], "\[Equal]", - RowBox[{ - RowBox[{"right", "'"}], "[", - RowBox[{"sMid", "+", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "''"}], "[", - RowBox[{"2", "sAbs"}], "]"}], "\[Equal]", - RowBox[{ - RowBox[{"right", "''"}], "[", - RowBox[{"sMid", "+", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "[", "sAbs", "]"}], "-", - RowBox[{"left", "[", "sMid", "]"}]}], "\[Equal]", "maxDiff"}]}], - "\[IndentingNewLine]", "}"}], ",", - RowBox[{"{", - RowBox[{ - "a", ",", "b", ",", "c", ",", "d", ",", "e", ",", "f", ",", "sAbs"}], - "}"}]}], "]"}]}]], "Input", - CellChangeTimes->{{3.8147796975767117`*^9, 3.8147798210816107`*^9}, { - 3.8147798588031063`*^9, 3.81477989768192*^9}, {3.814780039291904*^9, - 3.814780064179306*^9}, {3.814780102196363*^9, 3.8147801422919607`*^9}, { - 3.8147802074778643`*^9, 3.814780213004444*^9}, {3.8147802541493673`*^9, - 3.814780256564538*^9}, {3.8147803089660263`*^9, 3.814780320133307*^9}, { - 3.814780362150041*^9, 3.814780378453538*^9}, {3.8147804726323013`*^9, - 3.8147805822313633`*^9}, {3.8147817570711308`*^9, 3.814781759046762*^9}, { - 3.814782169753715*^9, 3.8147821700732117`*^9}, {3.8147822593625*^9, - 3.8147822726510277`*^9}, {3.814784271000598*^9, 3.814784277089135*^9}, { - 3.814787231868183*^9, 3.814787262533352*^9}}, - CellLabel->"In[6]:=",ExpressionUUID->"2c3a7d7e-16fa-4dd7-8830-bacb4cea9c30"], - -Cell[BoxData[ - RowBox[{"{", - RowBox[{"{", - RowBox[{ - RowBox[{"a", "\[Rule]", "0"}], ",", - RowBox[{"b", "\[Rule]", - RowBox[{"-", - FractionBox[ - RowBox[{"27", " ", - SuperscriptBox[ - RowBox[{"(", - RowBox[{"lm", "-", "rm"}], ")"}], "4"]}], - RowBox[{"65536", " ", - SuperscriptBox["maxDiff", "3"]}]]}]}], ",", - RowBox[{"c", "\[Rule]", - RowBox[{"-", - FractionBox[ - RowBox[{"9", " ", - SuperscriptBox[ - RowBox[{"(", - RowBox[{"lm", "-", "rm"}], ")"}], "3"]}], - RowBox[{"1024", " ", - SuperscriptBox["maxDiff", "2"]}]]}]}], ",", - RowBox[{"d", "\[Rule]", "0"}], ",", - RowBox[{"e", "\[Rule]", "lm"}], ",", - RowBox[{"f", "\[Rule]", - FractionBox[ - RowBox[{ - RowBox[{"3", " ", "lb", " ", "lm"}], "+", - RowBox[{"16", " ", "lm", " ", "maxDiff"}], "-", - RowBox[{"3", " ", "lb", " ", "rm"}], "+", - RowBox[{"3", " ", - SuperscriptBox["lm", "2"], " ", "sMid"}], "-", - RowBox[{"3", " ", "lm", " ", "rm", " ", "sMid"}]}], - RowBox[{"3", " ", - RowBox[{"(", - RowBox[{"lm", "-", "rm"}], ")"}]}]]}], ",", - RowBox[{"sAbs", "\[Rule]", - RowBox[{"-", - FractionBox[ - RowBox[{"16", " ", "maxDiff"}], - RowBox[{"3", " ", - RowBox[{"(", - RowBox[{"lm", "-", "rm"}], ")"}]}]]}]}]}], "}"}], "}"}]], "Output", - CellChangeTimes->{{3.814787262938306*^9, 3.8147872703768883`*^9}}, - CellLabel->"Out[6]=",ExpressionUUID->"39e4091c-8a78-4975-b334-d83516fdc673"] -}, Open ]], - -Cell[CellGroupData[{ - -Cell[BoxData[ - RowBox[{"resultBlend", "=", - RowBox[{"Solve", "[", - RowBox[{ - RowBox[{"{", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "[", "0", "]"}], "\[Equal]", - RowBox[{"left", "[", - RowBox[{"sMid", "-", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "'"}], "[", "0", "]"}], "\[Equal]", - RowBox[{ - RowBox[{"left", "'"}], "[", - RowBox[{"sMid", "-", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "''"}], "[", "0", "]"}], "\[Equal]", - RowBox[{ - RowBox[{"left", "''"}], "[", - RowBox[{"sMid", "-", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{"blend", "[", - RowBox[{"2", "sAbs"}], "]"}], "\[Equal]", - RowBox[{"right", "[", - RowBox[{"sMid", "+", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "'"}], "[", - RowBox[{"2", "sAbs"}], "]"}], "\[Equal]", - RowBox[{ - RowBox[{"right", "'"}], "[", - RowBox[{"sMid", "+", "sAbs"}], "]"}]}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "''"}], "[", - RowBox[{"2", "sAbs"}], "]"}], "\[Equal]", - RowBox[{ - RowBox[{"right", "''"}], "[", - RowBox[{"sMid", "+", "sAbs"}], "]"}]}]}], "\[IndentingNewLine]", - "}"}], ",", - RowBox[{"{", - RowBox[{"a", ",", "b", ",", "c", ",", "d", ",", "e", ",", "f"}], "}"}]}], - "]"}]}]], "Input", - CellChangeTimes->{{3.814787291387918*^9, 3.814787301412025*^9}}, - CellLabel->"In[8]:=",ExpressionUUID->"5fa940a2-232d-4655-ab8b-4eec0c4265ca"], - -Cell[BoxData[ - RowBox[{"{", - RowBox[{"{", - RowBox[{ - RowBox[{"a", "\[Rule]", "0"}], ",", - RowBox[{"b", "\[Rule]", - RowBox[{"-", - FractionBox[ - RowBox[{ - RowBox[{"-", "lm"}], "+", "rm"}], - RowBox[{"16", " ", - SuperscriptBox["sAbs", "3"]}]]}]}], ",", - RowBox[{"c", "\[Rule]", - RowBox[{"-", - FractionBox[ - RowBox[{"lm", "-", "rm"}], - RowBox[{"4", " ", - SuperscriptBox["sAbs", "2"]}]]}]}], ",", - RowBox[{"d", "\[Rule]", "0"}], ",", - RowBox[{"e", "\[Rule]", "lm"}], ",", - RowBox[{"f", "\[Rule]", - RowBox[{"lb", "-", - RowBox[{"lm", " ", "sAbs"}], "+", - RowBox[{"lm", " ", "sMid"}]}]}]}], "}"}], "}"}]], "Output", - CellChangeTimes->{3.814787301877789*^9}, - CellLabel->"Out[8]=",ExpressionUUID->"6788aa1f-2f90-4e97-a0c4-af1abc3e1de3"] -}, Open ]], - -Cell[CellGroupData[{ - -Cell[BoxData[ - RowBox[{"Plot", "[", - RowBox[{ - RowBox[{ - RowBox[{"{", "\[IndentingNewLine]", - RowBox[{ - RowBox[{"left", "[", "s", "]"}], ",", "\[IndentingNewLine]", - RowBox[{"right", "[", "s", "]"}], ",", "\[IndentingNewLine]", - RowBox[{ - RowBox[{ - RowBox[{"blend", "[", "s", "]"}], "/.", "resultBlend"}], "/.", - RowBox[{"{", - RowBox[{"sAbs", "\[Rule]", "0.5"}], "}"}]}]}], "\[IndentingNewLine]", - "}"}], "/.", - RowBox[{"{", - RowBox[{ - RowBox[{"lb", "\[Rule]", "2"}], ",", - RowBox[{"lm", "\[Rule]", - RowBox[{"-", "1"}]}], ",", - RowBox[{"sMid", "\[Rule]", "1.1"}], ",", - RowBox[{"rb", "\[Rule]", "1"}], ",", - RowBox[{"rm", "\[Rule]", "0.5"}]}], "}"}]}], ",", - RowBox[{"{", - RowBox[{"s", ",", "0.4", ",", "1.6"}], "}"}]}], "]"}]], "Input", - CellChangeTimes->{{3.814780590255458*^9, 3.8147805907026167`*^9}, { - 3.814780949393561*^9, 3.8147809552415953`*^9}, {3.814781810015246*^9, - 3.8147818384388523`*^9}, {3.8147822417707644`*^9, 3.81478225195382*^9}}, - CellLabel->"In[34]:=",ExpressionUUID->"479fe0d6-47b2-463e-ae25-8b9557d62f70"], - -Cell[BoxData[ - GraphicsBox[{{{}, {}, - TagBox[ - {RGBColor[0.368417, 0.506779, 0.709798], AbsoluteThickness[1.6], Opacity[ - 1.], LineBox[CompressedData[" -1:eJxFlGs01AkAxW1SUqcIZYdD2qKXV3X2NFSXmiwbmzQmiZMeUgrNxtQqj7bH -GiGhxpQyBgdFZZtk0wPFUJJK2f+MR17DjMEYZsZfpZ09Z8/ZD/fcD/fTPefe -n/W+SN+QaTo6Ot5a/esN3n33uVwCqSUzMrhcEjG5uYG5OQT4nNaihVkkVqmC -9IoLCDz4vejplask0rI/MirKCLT5/yy7nEHCf1BIfmwgsEIv1S0phYQk8RZM -JgnUBZkqYs6Q0H0R+So1QIRvc5d4Bx4mscF5svusuRhMpttMKyqJpjX+lN4n -bZgzdpi80DwBw/vugiRaB9bvGPZtj5iATV9p+h/PO1F+gW5uOW8Cq+bfXR9b -9gkyVtFet0INbkRt69p1vAt/bvGft8Ndg+wgkyTmlm6sfqty/qldjRk8Uz+B -cQ++OkR/WMpSw2Ppnu2Ulh4Ehvu0Kk3VMHN6vb0yvxdRod/v5JeqUB1/9mx8 -aB8WuW7c6OqlQostqzXCRoIFclpmvXwc0YwUB65Kgjo69dCa8+MYEcorJOX9 -0M9m5yUvGYfm2TH3yMQBTOcJA+srx3DYyEm9mCGF14n+c8P0MQgKqK2kqQw2 -dvtNdFVKpFQdfDxbIsOjnEbryWQlNlq2vXMtGkSX4vLVzpVKxE5jDd2LkaNm -isYurBmFravXCi/PIcg7Cdmu3aMorgrLMjAYRknOy/uTkwr8JSw1mC4exhKL -4snYdAX4RtQ7i26OwOFET9GIowKnAnScBfYKGGz9dpHDH8HRSPXN6KsKLLM2 -rjF5P4yGgrRsD40CEYKOugijYYRbbbCgBo/Cpvq8MAVDENbOtINwFL9GKQrO -MOVISWF9ZNgqIemdv8O3bBDXsjTfJV9SorHJ8Ev/JxmMay3q3imUEEXXHQ+w -lMHNMtjcwWcMcc/RkLtHivJHD5RFD8eQmZRJuZM2gKyTd/etNRtH89xcZ86b -flT/VklvTxhH3Bw2Y8uUBIzsI52c7nHQhcvcmp0l4A1SP4duUqFqWfIsx1N9 -cIqjcP1uqXBT99Vr+u1e2K/OeUOfrUb+9epghrQHx5f/mMiMUoNSmjFisbAH -4d6Db/PEatiELA+s8OjG+3SaoN9FgwARi+OY2IUE83tmnvka6DTkNIU//ARu -7TPTx3oTyJbqFM+TdiI0eyiPFjKBA6mex4bCOnC63E4ga9Tu2MbTwa+xDVOj -RkF8OxL66yousjzFGHghpfo6kAiW+5s93CTGO071gmlOJCp4ZL7GRYzCDczm -vWtJHJjl8vSkvRg+7ObN1i4kqkRPFDHGYvAXXVrB8yBxMva5X3y7CO7b5kzc -2E9ioKbJKpEpguPi3hbvEBKuJyJL6sNEoKgqy74eJJG10pA664AII9eOHAkK -I0HL3O6bxBAhS/Kyw4JJghfSci7ZRQRZLLv2epz21/oiaZqeCC0+e/lbE0jc -exzDejtF4OkP1PjP2l/rM811508QyGgYWLf7PAkBEWiRISOw3tSjhJJMwvB2 -5y9X3hCwGbBiv9Ry4dCeBPGHegKGlZqQmEvaPsbWhxbUEOgLLrQSpZM4enrf -GY6AQPOa+C/sTG3uqDv371ICj2bsJKha7pj15V0zKySQT9iXSzkkjnFptrt4 -/3Or/j+O/QOMhoPv - "]], LineBox[CompressedData[" -1:eJwVx3081AcAx3Gx1KRGZRl6Lo1KScmRvpKkSYdiKAvNXXkIUXogZD24Oryo -ztXlqVM0xLqsRWQxnbQko5Nd7rhzD9zDz+NPW6398Xm9X5+lYTG+4bo6Ojpe -n/tfvpfkAZstAPfCmkI2W4TTRUUHigoEyL65n2F+U4Q1Y8HTy0oESK5iJNzi -iJDN6fJ/VC2Af4/Mo6hAhABlC9nFF2CmTYm2tEQE6aV7mD8lQNRfC7c/qhZB -rynmRWZQD+xWfCXt4ovg7DglTjd/h8ZG7er5UyL8aRdgNvCkF5YufEp5mBhG -D9x5DDchxt+79fk1iWEpqci5+Ow9ksqFC0xW9GPN3Ptbkqv74FHHeK293I9b -CVRRYLwIqcM9y/uG+sEJns+I2yGGTpjzpNJvAPqFJn68ef3YpFcfPPvJADxW -HvQx6+xHV7N4v8tCCUxtX/rUcgdQ/+Kb3uzzEjSmpKen0CWYOzI6Skgl6Fx1 -ovuopRQWO1X5Ee5SHPdnrmOPSRElJFs/VUihbhl6JK0ZhDWrLOvOnEFMNMS6 -x1ySwSY3sisicRBHjG3Hl/nLIa31rHQTDoJXQukmTRQw1G9ftH6rDMyntLpZ -UgVO5tKMKXdk2Lqot8OlVAkf1yLO3hlyJOueGK46PYTYjaqyy7FyrHLZbb17 -1zDc9wZ6CLrlKHsakWdgoMKF3MMpDg4K/NZSYfDFOxXmLGA4PCxUoNiYUrkk -Xw29Oipju64SZ4J0HHk2GlQw7aIHQ5WIihnPP35dg/xiq45SvhL8kmyOx4QG -H94+e3XGegjRi50tKCFaFPjGUqNyh9DSPGMtWrQgJx1Djk0Ngck80eW/ikDD -07IvGUHDuJE3Me1KFoG2F9abGn4fxrxmiz86NAR2TFLJ6StU2LYoxHyd9wji -fXL3hKWrUPP4IVH66whkw7KVvQoV8k7eD9toOorWn8XX6J5qNJ6q3fd36ihG -ylUXjXhq+HMi37PEo2iiUzMkBhoUKikf6K5jOJJlz3rpqIHtWTO2370x/PLW -ktZ0VAObDQWv9s0aR9WGI9PcCjSIt7K/FJcwDt9KXnDHGw2ivZSvb78bh7dL -1rnIGVq8yXHjDTpNQLe/Np65WYtU8yrTXdwJBN7VrqyP1ILd3GBSN30StKRT -3ESOFnTO8G238Em00bOVTm1aJNWs5SnaJtGdUDUyR4fAR61xcPFaEnk5y55H -rCcga5JTfNeRmJ2UWeNqS6CD1fi1ri2Jc+FTXLMNBO46x7WHbiQR5dCR1mpH -wDujfftSJxLbhGlO1psJFC/Jsi70IKGwElXKnQm4Uw0nbx0isaWx4NphTwLr -lw10eoWTqL436yeX3QTMxmqr/6WRsLyaeMzUi4D6RmRkcAQJIzqV+nwPgTxp -q9AijoTE8NPMb30JKJIzmm+eJZEZ8EPSYACBTu/QYs9UEnqurRENgQTql1NS -PqSROLnaPpAVRCCXL3PYf55E2MfZ9jsPENhi4lFudoXEZu4T9Z2DBCxlizNa -mSTKmVbCsyEEjGonwk9nkViaeK3NP5SAJOTu4p4cEobfRZfpHyLQbpfyT8ZV -Eml2Apbw8z/W/15AuU5i3GLHhZofCXAFNjVyFolI/eqEzHACmeX6uWw2iT61 -xSEajcB/xIuFQQ== - "]], LineBox[CompressedData[" -1:eJwV13k4VdsbB3CpJFRmwkWjISTDDeGVpIxJkQbzkJ9CZBZOyiwk80wiws2Q -aEB1NYkrRYaiFMm4z97HcFT6veev83ye5+y93rXXu9f+ri1O3pau7GxsbKtX -sbGxfl+ZjdVnZw+Ag8BJh1hnJoQUF58pLhyAmKhZTisnJijM266tuDUAbfE7 -nLc4MiElr8+6qXYA2Lu2KzbbMcFm6gWz79UApHpLSoydZMJ4bCUILg/Axs68 -BCULJqz+17sj6dQgvLSP/xirzQQdreXRK+JDULlN+7qLIBO6VG3Evj3+CNN0 -Zsjb5iXgrTdsiDcYhuODHB7+jkuwc6w6NebZCKiF7bvzY90SKPD/ox1W+xlW -tI883l26CPl+R76cvPgFcrhKuE0OLkKerWC8z8FRGPT9n4b0pwXgKBKyahD4 -CkJTMS07Ahbg8A77o2LvvwIj/VzpitACiO7pPPqw9BsUDKj47a6ZhycRV65E -nB2DHb86SpTN5+G9TMAHr53jIB9mq+ZAZ4C/9bXd2fPjkK98aeRGEgPmXkw3 -jTd+h+rYsx7pagxYbL1g6B07AW1OotMDvRT8j2/PwlbrH1DlVlYvdomChlua -H5hCkxDMNxRTuouCa21uj7jHJ0E8tdpSp58EXcmPPXq3p6DxULGgeRIJYewB -M3dDpqHsQMvFFn0SZPRM5U2NZiC+e9TK8zcdKto8sri4ZkHZWMjx6BM6NL+o -5lozNAuG630vWETRoYRPs0a6YA54SjlemVrSIfQUm1aDEgHyw6G/xHbQ4bz3 -QoF/BgFpcyaJaUwCXt1KyTu8SIDh+1+q6n0E3D2RbDe9RMCE2xmx8l4CMtYn -SacsE+AmPuOwGe3imVD64TcBhEHNxj/vCFhRi65yW0MHXYs1M11vCVD5N/TR -VT704fj7tE4CckfdPrbtooPCh8oMhXYCPKV0JDQd6CBLW1q8dY8ADmOaWq8j -1lV3YrsKusjvmamPMx3uesxWtzQQ0PPKKKzCjQ4ens/7++sJ0PCzHt7sSQcn -oX3X+OoIWPPKu2g5mA4Z84RPWg0BOb4l2x/doIN5co/S53IC1PLHtG3S6SAx -cmV1ELrzhawVI4MOBUfC1XnRbH/9E6WQQ4eFDvPa/WUEuL54OJ5XRMf52nFW -lBKgLNF7O6yaDnmZEmpxxQS8aF+nCC/oIH+5LSI5l4BxWnVC60s6pLyLU9VE -c2gfm4TXdIgWuqDxNYcAg7qCcr1OOlTGpqhroNsK1Lfqv6PD627u32NZBDQF -OoscHKFDmalSmwWuS6Vc6yqTRVzHqfW8ztdxfb65OHQs0cGSo3hMGD1RyNVq -skwHLWVVno4UAnYKW18yxb4IWdA3VUPfZJ9ZMFtNgsTceCZXMgF5Q2LTFptI -KBkZPf08kYBr1wL6rGVIyOO6Hh8SS8CD69vvLMqS4DUxPaWCHk/viciSJ6HM -Sr9qKoYA3QIluUFFEgrGuozs0LM146G2aiS8Pia9dCiaAItu6y0u+0lg1xSW -UrxKgKDA3vM+p0nwjdSh6dII0BMZ0+O3JaHOf+wBO/q8+A2hejsSZqWkj7+I -IKB921wLw5EElyrdkqPoALVyviB3ErovNFZ5hBPwwUrkfrg/CR6bdgTWXML1 -zVpclZhMgkore/ulYAJMFTn/4ruO9UXoLR1BrzwR1chIJSE60DdsG9ppStOr -KJ2E1Hs3wzqCCJDTvTTYkEtCwz9dx6XQTV/Z6j+Vk7Ag0HmqL4AAjyC+LqcK -Eniv+t+pQUts2PrjeyUJPXw9ZjFo2t8HpMhqvL46I0YTfSguKoGjgYSgyr6u -Yn8C+pS4XHa3kSAp7XL7sh8Bsc/EIhqekKCWc5jfHq1lsytH8xkJy8K5ndro -gsum3Qeek/C+NVCDeRH7732Sts0bEqR5k4b90YxgAaHLuE/wrNngHu5LQNnG -7cocgyQ0dReMO6BtbqqZJAyRIHjVsvEA+tEbq8vpw7h+7dxGXOirUlkzFd+w -/oua+3J9CBBol3jeQ5DQ0s5t/uYCAUE9PnstSBI2nntr3YD+OPL8didFwrC0 -XnUeumz5QsLLBRK6itcc8EJrKLdbtPwiwXwll08Ina8j9nTfCgmGxyRi/ngT -wG7irdr8h4QQQsJ4Et3hulm4gZ2CHvX4pja0Xa7nUAUnBb4ikX/7oJ/dfmoq -w0VB/B8fETu0bKNISyk3BTlrmg6aoOndT4oKN1LwYFw5fif6KoewW7ogBY2n -des+e+H74tNC0KQpGDyzFOyM3hQh4LSyhYKNzc2KVmi/RPd3odsokK8PUjqE -1innbwzYSYF1Yb+wArr7o1voeQUKZqnwSKYnAeqTD6d/KFKwwJ6YP4POWeS1 -O7ubAvYz7mtH0c78D/WcVCjgOhn4sAO9cGgTh40GBcb7D7eVoE9buQT2alIg -GS+3Pxvd5tQ8YbmPAnO3yo0p6Lgw5w4zXaz3hm9yOHo2vkm7AyjguFetH4C2 -zNpQc3g/BfzrL+h7oSXq76ccMKDgVJWPjD2a1sbD/uQgBcsFpTw26LFOx4u6 -h/D+3Ia6R9E1E9zWmsYUDJ96GG2AFlhweNFoQsHWe5H5uuig1Y0aamYUGAYW -smmi90s6iO+2oGD8a+sdJXSd32P2zqMUtLB7pciht3eITXocw/UIHO7ajs7Y -EvSW04qCJL71Z6XRnEG9TWXWFKxkjtlIoEO6VIoMbHB9Xp8rFUVPb0+JGT1J -QY3jDSMhtF3ojBftNNa74fhhfnT3W2NrSVusL+BW0Sa0vuxtnUd2FGjpRFhu -QDeEr91xygHn87Pflhu9s9eJZ8kR6zlQ+XQ9OnNXG5XuTIFbwSSNk1VP5F9D -qq7opOtZ61j19Ic8fetGgX5SxnqWp5X6K7zdKajkpb/jYNUTpX59gwcFJC1r -keXuodSgO+cocNK/6sf6v74KYW/kif1x944x6/4NsWaHvntRUCDNEcIaf+dI -pVLUBVzPT/HsrPqy1DmFt/liPyju+caD5kp0/d12EfvRlJBkze/S6NNvdv4U -RHq31vGhZzSk3/wKoODv9vRCQVY9yWH1OUEUqFz0GBNh1TM2mKMRQkFdptpV -cVY92hqRfaE4P6OpUClWPanp//MLw/tnRr3ZxqrnB2nBH4H9E7vsL8uqByw0 -7tIoGBXfH6TIGn+aa930FXzfVkvFaLD6T999Ni4K+1m59AarPxyy23tlYihI -vdu3xOqfA4a0Uud4NJdUpyVrvLxPCasSsb8jtmqfYo1HaV0svIbPL6xmtRNr -vkXz+4dScD1/aeX5ssZbsJQLTqVAaUDWM5Q1nuldXpE0fJ9/BmdcRfcwPUYs -M7Efg6TJTHT2sc+XXudT0Ofl/+Yp636VOi7uhRRYdvnZd7Hux5ZrwlGM8wlK -MB5k1VttJaZfivuLVL8shZZd13G/uRKfh/jIGjl8v3NsZQtPVGF9XnEn9qJ5 -GqKi56txfWV+rzJEzznoWe2ppSBcb7OdC7rxwT3y9n18/1s3qNxC1xT7S+9q -xnpX54vdQ9+KVTevfkBBwBfLI+3oNOt7FbWPcT9L5MsfR/uSDQ4PnlHw1JB6 -qYD7lZJ8Q1fHf2j75VMv0Dv5/H6ZvaWgTGYD+0f0X0uq8t09FDw/38Yg0DzP -66PeY46MFB9/JI7766RjvfanIeyHCO0Pfujy7LrK2e8U2H31V1DH/byA5tt/ -4QfuD3XhcebojLMqHNQkBV4b8/a4o6PV6xwXZ3C/uEU45aFd3taKsjGwn9LW -GnHi90F6fW00HxsD4l1nxGbRWUH/OKmJMuB58XIaHb9PebcDOT5sZkC0k7ey -CH7fivuhMlicAcsnnmzVQVdqdNNbJBkQeb2DOx79eImgGe1gAL+55KwMfh9H -g1QK7VQYwLGqY+JiIAEKwfeGYk0ZEBDPbWsagvmqIixilzkDXh+qengJrT5w -cFvXEQY8dU3xrkbravZ5CBxjAJfXTN+mUAKOMheY+ScZ4JZxpaQfHRCsIVrv -xoAVAbMtIWEEPAl+ePwTjQEFHYK2vzBvmGqN67pE4vVakg6ql/H7vMwrN3WF -AaPCf+54oCdD3X4vRTNA6byo5CBaMJyvTPAaA1TsHD0eRWLujTy7aJLNgJbN -i1lJmG94EgRyHtQywCbLcNkd85J13rmRzFEGZJGcYhTmrxu9g1Ii3xigvW/m -qhbmte6Nxg4ZYww4bjOgEok2viz7JW2CAQrmmSf4UwkAt7HR67MMmCgyfaZ+ -A/tX2X48YZkBepsLROPSCfj5zHImgn8ebOweOzpifiya0vx5Vn8eXAo8Unsx -n0561tauM8Bzi9PvDrVbmHcJWffyg/Nwdy7ZIg39iiHSO354Hnhue2odx3xL -/p6vcT0yD6VPxZI/YP414K1zcj4zDy+9cxWmKzFfqsm/tguYh29BOc2mtQTs -CRfLtqqch9tx7Bu+t2A/qxT+d5x7AYjArXNqQwRclPs71sdvAXgrb/4cx3OB -p9nU25tDC0C70vyjdhsd3qUaNHzftwhsSuvtKSM60MTvihrhOU60f8PxowF0 -yG5vFXq0dgmq9tpz8pXQ4WzezE0D1yV4U0BPe9JFh0uNig2Tb5bgs/yHo11s -JKzQ+WxLFJlwN2+jeowyCRP//tC03M0EjQqpXts9mHMynwiz72FCk0xihJoK -CeU6Pt2OakwgIt+RX1RJsIjrPrBlHxNEZ/LNdfZiLpZOli86jP+/LHR/Xgdz -zBGepXw8F7ONWcidNyFBeeu392auTJDlbPr3gCkJYvMPa3+7McGCZuQqbkbC -XM65c7YeeE7+oX/vtTkJWeOvhyV8mNC2SE+QsyRhMiyuPTcc3ac+990Gc56F -Y4kJjQnu971ftZ7EHLZNM+LnZRyvQbEs8xQJN15NaJyOYkKsaoLboTMkaAsd -rhJLZEJQreRKmT0JOyek4l5fw/GF33wPd8Cc+nDRNSQZn8em8h5rzNFjDuVS -g6l4/X+adzicMUerRvyKS2PCy+jcrGH0A44TA5oZTHBoCI9udCGhdECp8Ucm -E7o1m/ySXElIquK4kZ3NhP45CWc3NxL+D+OoVF0= - "]]}, - Annotation[#, "Charting`Private`Tag$6863#1"]& ]}, {}}, - AspectRatio->NCache[GoldenRatio^(-1), 0.6180339887498948], - Axes->{True, True}, - AxesLabel->{None, None}, - AxesOrigin->{0.4, 0.4000000244897959}, - DisplayFunction->Identity, - Frame->{{False, False}, {False, False}}, - FrameLabel->{{None, None}, {None, None}}, - FrameTicks->{{Automatic, - Charting`ScaledFrameTicks[{Identity, Identity}]}, {Automatic, - Charting`ScaledFrameTicks[{Identity, Identity}]}}, - GridLines->{None, None}, - GridLinesStyle->Directive[ - GrayLevel[0.5, 0.4]], - ImagePadding->All, - Method->{ - "DefaultBoundaryStyle" -> Automatic, - "DefaultGraphicsInteraction" -> { - "Version" -> 1.2, "TrackMousePosition" -> {True, False}, - "Effects" -> { - "Highlight" -> {"ratio" -> 2}, "HighlightPoint" -> {"ratio" -> 2}, - "Droplines" -> { - "freeformCursorMode" -> True, - "placement" -> {"x" -> "All", "y" -> "None"}}}}, "DefaultMeshStyle" -> - AbsolutePointSize[6], "ScalingFunctions" -> None, - "CoordinatesToolOptions" -> {"DisplayFunction" -> ({ - (Identity[#]& )[ - Part[#, 1]], - (Identity[#]& )[ - Part[#, 2]]}& ), "CopiedValueFunction" -> ({ - (Identity[#]& )[ - Part[#, 1]], - (Identity[#]& )[ - Part[#, 2]]}& )}}, - PlotRange->{{0.4, 1.6}, {0.4000000244897959, 1.5999999755102041`}}, - PlotRangeClipping->True, - PlotRangePadding->{{ - Scaled[0.02], - Scaled[0.02]}, { - Scaled[0.05], - Scaled[0.05]}}, - Ticks->{Automatic, Automatic}]], "Output", - CellChangeTimes->{{3.814780585303237*^9, 3.814780592869084*^9}, { - 3.8147809517519703`*^9, 3.81478095753754*^9}, {3.814781810666019*^9, - 3.814781840272695*^9}, {3.814782244356616*^9, 3.814782252219132*^9}}, - CellLabel->"Out[34]=",ExpressionUUID->"8ce4c685-1cfd-465e-a94d-4b52257a12e5"] -}, Open ]], - -Cell[CellGroupData[{ - -Cell[BoxData[{ - RowBox[{"ToString", "[", - RowBox[{ - RowBox[{"Simplify", "[", - RowBox[{"resultBlend", "[", - RowBox[{"[", - RowBox[{"1", ",", "6", ",", "2"}], "]"}], "]"}], "]"}], ",", "CForm"}], - "]"}], "\[IndentingNewLine]", - RowBox[{"CopyToClipboard", "[", "%", "]"}]}], "Input", - CellChangeTimes->{{3.814780597743034*^9, 3.814780636798799*^9}, { - 3.814780707736005*^9, 3.814780748015781*^9}, {3.8147807850806103`*^9, - 3.814780785143717*^9}, {3.8147821784975986`*^9, 3.814782178569324*^9}, { - 3.814782295290853*^9, 3.814782295329864*^9}, {3.8147823462991743`*^9, - 3.814782346362447*^9}, {3.81478237925187*^9, 3.8147823937227507`*^9}, { - 3.814784263360217*^9, 3.81478426633566*^9}, {3.814787316765634*^9, - 3.814787321755981*^9}, {3.8147873580136833`*^9, 3.814787396508493*^9}}, - CellLabel->"In[21]:=",ExpressionUUID->"d3adbc7b-8349-4567-aa18-08e75e8013d4"], - -Cell[BoxData["\<\"lb + lm*(-sAbs + sMid)\"\>"], "Output", - CellChangeTimes->{{3.814780600649522*^9, 3.814780637322711*^9}, { - 3.814780708293789*^9, 3.8147807484131317`*^9}, 3.8147807857654037`*^9, - 3.81478217891681*^9, {3.8147822810808163`*^9, 3.81478229555334*^9}, - 3.814782346666561*^9, {3.8147823796678247`*^9, 3.814782394118228*^9}, { - 3.814784266706871*^9, 3.814784278974018*^9}, {3.814787319381741*^9, - 3.814787322811455*^9}, {3.8147873584364367`*^9, 3.8147873967792788`*^9}}, - CellLabel->"Out[21]=",ExpressionUUID->"f13ac165-4f18-4396-a389-b895b32d95d3"] -}, Open ]] -}, -WindowSize->{1292, 1169}, -WindowMargins->{{-1631, Automatic}, {46, Automatic}}, -FrontEndVersion->"12.0 for Linux x86 (64-bit) (April 8, 2019)", -StyleDefinitions->"Default.nb" -] -(* End of Notebook Content *) - -(* Internal cache information *) -(*CellTagsOutline -CellTagsIndex->{} -*) -(*CellTagsIndex -CellTagsIndex->{} -*) -(*NotebookFileOutline -Notebook[{ -Cell[558, 20, 163, 3, 36, "Text",ExpressionUUID->"ea1f0884-a36c-4f84-9de2-d27b5afcdcc4"], -Cell[724, 25, 1147, 32, 98, "Input",ExpressionUUID->"70d3cac5-9a8c-4a5d-93af-56b7bb88d7be"], -Cell[CellGroupData[{ -Cell[1896, 61, 2596, 60, 216, "Input",ExpressionUUID->"2c3a7d7e-16fa-4dd7-8830-bacb4cea9c30"], -Cell[4495, 123, 1572, 45, 61, "Output",ExpressionUUID->"39e4091c-8a78-4975-b334-d83516fdc673"] -}, Open ]], -Cell[CellGroupData[{ -Cell[6104, 173, 1744, 46, 193, "Input",ExpressionUUID->"5fa940a2-232d-4655-ab8b-4eec0c4265ca"], -Cell[7851, 221, 842, 25, 55, "Output",ExpressionUUID->"6788aa1f-2f90-4e97-a0c4-af1abc3e1de3"] -}, Open ]], -Cell[CellGroupData[{ -Cell[8730, 251, 1147, 27, 124, "Input",ExpressionUUID->"479fe0d6-47b2-463e-ae25-8b9557d62f70"], -Cell[9880, 280, 10546, 193, 240, "Output",ExpressionUUID->"8ce4c685-1cfd-465e-a94d-4b52257a12e5"] -}, Open ]], -Cell[CellGroupData[{ -Cell[20463, 478, 886, 16, 55, "Input",ExpressionUUID->"d3adbc7b-8349-4567-aa18-08e75e8013d4"], -Cell[21352, 496, 574, 7, 35, "Output",ExpressionUUID->"f13ac165-4f18-4396-a389-b895b32d95d3"] -}, Open ]] -} -] -*) -