§
    OŠtjS4  ã                   óÂ   — d Z ddlZddlmZ ddlmZmZmZ ddlm	Z	 ddl
mZ ddlmZ ddlmZ dd	lmZmZmZ dd
lmZ ddlmZ  G d„ d¦  «        Z G d„ d¦  «        ZdS )zBTests for the ``sympy.physics.biomechanics.activation.py`` module.é    N)ÚSymbol)ÚFloatÚIntegerÚRational)Útanh)ÚMatrix)Úzeros)Údynamicsymbols)ÚActivationBaseÚ FirstOrderActivationDeGroote2016ÚZerothOrderActivation)Ú_NamedMixin)Úsimplifyc                   ó¦   — e Zd Zed„ ¦   «         Z ej        d¬¦  «        d„ ¦   «         Zd„ Zd„ Z	d„ Z
d„ Zd	„ Zd
„ Zd„ Zd„ Zd„ Zd„ Zd„ Zd„ Zd„ ZdS )ÚTestZerothOrderActivationc                  óš   — t          t          t          ¦  «        sJ ‚t          t          t          ¦  «        sJ ‚t          j        dk    sJ ‚d S )Nr   )Ú
issubclassr   r   r   Ú__name__© ó    ún/var/www/html/CA-Chatbot/venv/lib/python3.11/site-packages/sympy/physics/biomechanics/tests/test_activation.pyÚ
test_classz$TestZerothOrderActivation.test_class   sK   € åÕ/µÑ@Ô@Ð@Ð@Ð@ÝÕ/µÑ=Ô=Ð=Ð=Ð=Ý$Ô-Ð1HÒHÐHÐHÐHÐHÐHr   T©Úautousec                 ón   — d| _         t          d¦  «        | _        t          | j         ¦  «        | _        d S )NÚnameÚe_name)r   r
   Úer   Úinstance©Úselfs    r   Ú _zeroth_order_activation_fixturez:TestZerothOrderActivation._zeroth_order_activation_fixture   s-   € àˆŒ	Ý Ñ)Ô)ˆŒÝ-¨d¬iÑ8Ô8ˆŒˆˆr   c                 ó\   — t          | j        ¦  «        }t          |t           ¦  «        sJ ‚d S ©N)r   r   Ú
isinstance©r!   r   s     r   Útest_instancez'TestZerothOrderActivation.test_instance"   s.   € Ý(¨¬Ñ3Ô3ˆÝ˜(Õ$9Ñ:Ô:Ð:Ð:Ð:Ð:Ð:r   c                 óš   — t          j        | j        ¦  «        }t          |t           ¦  «        sJ ‚|t          | j        ¦  «        k    sJ ‚d S r$   )r   Úwith_defaultsr   r%   r&   s     r   Útest_with_defaultsz,TestZerothOrderActivation.test_with_defaults&   sM   € Ý(Ô6°t´yÑAÔAˆÝ˜(Õ$9Ñ:Ô:Ð:Ð:Ð:ØÕ0°´Ñ;Ô;Ò;Ð;Ð;Ð;Ð;Ð;r   c                 ób   — t          | j        d¦  «        sJ ‚| j        j        | j        k    sJ ‚d S ©Nr   ©Úhasattrr   r   r    s    r   Ú	test_namez#TestZerothOrderActivation.test_name+   ó8   € Ý�t”} fÑ-Ô-Ð-Ð-Ð-ØŒ}Ô! T¤YÒ.Ð.Ð.Ð.Ð.Ð.r   c                 óX   — t          | j        d¦  «        sJ ‚| j        j        dk    sJ ‚d S )NÚorderr   ©r.   r   r2   r    s    r   Ú
test_orderz$TestZerothOrderActivation.test_order/   ó6   € Ý�t”} gÑ.Ô.Ð.Ð.Ð.ØŒ}Ô" aÒ'Ð'Ð'Ð'Ð'Ð'r   c                 óü   — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚t          d¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚| j        j        | j        j        u sJ ‚d S ©Nr   Ú
excitationr   ©r.   r   r
   r   r8   ©r!   Ú
e_expecteds     r   Útest_excitation_attributez3TestZerothOrderActivation.test_excitation_attribute3   óŠ   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý�t”} lÑ3Ô3Ð3Ð3Ð3Ý# HÑ-Ô-ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,ØŒ}Ô'¨:Ò5Ð5Ð5Ð5ØŒ}Œ $¤-Ô":Ð:Ð:Ð:Ð:Ð:Ð:r   c                 ó  — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚t          d¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚| j        j        | j        j        cxu r| j        j        u sn J ‚d S )NÚaÚ
activationr   )r.   r   r
   r?   r@   r   ©r!   Ú
a_expecteds     r   Útest_activation_attributez3TestZerothOrderActivation.test_activation_attribute;   s¢   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý�t”} lÑ3Ô3Ð3Ð3Ð3Ý# HÑ-Ô-ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,ØŒ}Ô'¨:Ò5Ð5Ð5Ð5ØŒ}Œ $¤-Ô":ÐMÐMÐMÐM¸d¼m¼oÐMÐMÐMÐMÐMÐMÐMÐMr   c                 óâ  — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚| j        j        | j        j        k    sJ ‚t	          dd¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚t          | j        j        t          ¦  «        sJ ‚t          | j        j        t          ¦  «        sJ ‚| j        j        j        dk    sJ ‚| j        j        j        dk    sJ ‚d S )NÚxÚ
state_varsr   é   ©r   rG   )r.   r   rE   rF   r	   r%   r   Úshape©r!   Ú
x_expecteds     r   Útest_state_vars_attributez3TestZerothOrderActivation.test_state_vars_attributeC   sð   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý�t”} lÑ3Ô3Ð3Ð3Ð3ØŒ}Œ $¤-Ô":Ò:Ð:Ð:Ð:Ý˜1˜a‘[”[ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,ØŒ}Ô'¨:Ò5Ð5Ð5Ð5Ý˜$œ-œ/­6Ñ2Ô2Ð2Ð2Ð2Ý˜$œ-Ô2µFÑ;Ô;Ð;Ð;Ð;ØŒ}ŒÔ$¨Ò.Ð.Ð.Ð.ØŒ}Ô'Ô-°Ò7Ð7Ð7Ð7Ð7Ð7r   c                 óì  — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚| j        j        | j        j        k    sJ ‚t	          | j        g¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚t          | j        j        t          ¦  «        sJ ‚t          | j        j        t          ¦  «        sJ ‚| j        j        j        dk    sJ ‚| j        j        j        dk    sJ ‚d S ©NÚrÚ
input_vars©rG   rG   ©r.   r   rO   rP   r   r   r%   rI   ©r!   Ú
r_expecteds     r   Útest_input_vars_attributez3TestZerothOrderActivation.test_input_vars_attributeO   óô   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý�t”} lÑ3Ô3Ð3Ð3Ð3ØŒ}Œ $¤-Ô":Ò:Ð:Ð:Ð:Ý˜TœV˜HÑ%Ô%ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,ØŒ}Ô'¨:Ò5Ð5Ð5Ð5Ý˜$œ-œ/­6Ñ2Ô2Ð2Ð2Ð2Ý˜$œ-Ô2µFÑ;Ô;Ð;Ð;Ð;ØŒ}ŒÔ$¨Ò.Ð.Ð.Ð.ØŒ}Ô'Ô-°Ò7Ð7Ð7Ð7Ð7Ð7r   c                 óâ  — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚| j        j        | j        j        k    sJ ‚t	          dd¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚t          | j        j        t          ¦  «        sJ ‚t          | j        j        t          ¦  «        sJ ‚| j        j        j        dk    sJ ‚| j        j        j        dk    sJ ‚d S )NÚpÚ	constantsr   rG   rH   )r.   r   rX   rY   r	   r%   r   rI   ©r!   Ú
p_expecteds     r   Útest_constants_attributez2TestZerothOrderActivation.test_constants_attribute[   sð   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý�t”} kÑ2Ô2Ð2Ð2Ð2ØŒ}Œ $¤-Ô"9Ò9Ð9Ð9Ð9Ý˜1˜a‘[”[ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,ØŒ}Ô&¨*Ò4Ð4Ð4Ð4Ý˜$œ-œ/­6Ñ2Ô2Ð2Ð2Ð2Ý˜$œ-Ô1µ6Ñ:Ô:Ð:Ð:Ð:ØŒ}ŒÔ$¨Ò.Ð.Ð.Ð.ØŒ}Ô&Ô,°Ò6Ð6Ð6Ð6Ð6Ð6r   c                 óæ   — t          | j        d¦  «        sJ ‚t          g ¦  «        }| j        j        |k    sJ ‚t	          | j        j        t          ¦  «        sJ ‚| j        j        j        dk    sJ ‚d S )NÚM)r   r   ©r.   r   r   r^   r%   rI   ©r!   Ú
M_expecteds     r   Útest_M_attributez*TestZerothOrderActivation.test_M_attributeg   sr   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý˜B‘Z”Zˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,Ý˜$œ-œ/­6Ñ2Ô2Ð2Ð2Ð2ØŒ}ŒÔ$¨Ò.Ð.Ð.Ð.Ð.Ð.r   c                 óè   — t          | j        d¦  «        sJ ‚t          dd¦  «        }| j        j        |k    sJ ‚t	          | j        j        t
          ¦  «        sJ ‚| j        j        j        dk    sJ ‚d S )NÚFr   rG   rH   )r.   r   r	   rd   r%   r   rI   )r!   Ú
F_expecteds     r   Útest_Fz TestZerothOrderActivation.test_Fn   st   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý˜1˜a‘[”[ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,Ý˜$œ-œ/­6Ñ2Ô2Ð2Ð2Ð2ØŒ}ŒÔ$¨Ò.Ð.Ð.Ð.Ð.Ð.r   c                 óÞ   — t          | j        d¦  «        sJ ‚t          dd¦  «        }| j                             ¦   «         }||k    sJ ‚t	          |t
          ¦  «        sJ ‚|j        dk    sJ ‚d S )NÚrhsr   rG   rH   )r.   r   r	   rh   r%   r   rI   )r!   Úrhs_expectedrh   s      r   Útest_rhsz"TestZerothOrderActivation.test_rhsu   sz   € Ý�t”} eÑ,Ô,Ð,Ð,Ð,Ý˜Q ‘{”{ˆØŒm×ÒÑ!Ô!ˆØ�lÒ"Ð"Ð"Ð"Ý˜#�vÑ&Ô&Ð&Ð&Ð&ØŒy˜FÒ"Ð"Ð"Ð"Ð"Ð"r   c                 ó>   — d}t          | j        ¦  «        |k    sJ ‚d S )NzZerothOrderActivation('name')©Úreprr   ©r!   Úexpecteds     r   Ú	test_reprz#TestZerothOrderActivation.test_repr}   s(   € Ø4ˆÝ�D”MÑ"Ô" hÒ.Ð.Ð.Ð.Ð.Ð.r   N)r   Ú
__module__Ú__qualname__Ústaticmethodr   ÚpytestÚfixturer"   r'   r*   r/   r4   r<   rC   rL   rU   r\   rb   rf   rj   rp   r   r   r   r   r      s!  € € € € € àðIð Iñ „\ðIð
 €V„^˜DÐ!Ñ!Ô!ð9ð 9ñ "Ô!ð9ð
;ð ;ð ;ð<ð <ð <ð
/ð /ð /ð(ð (ð (ð;ð ;ð ;ðNð Nð Nð
8ð 
8ð 
8ð
8ð 
8ð 
8ð
7ð 
7ð 
7ð/ð /ð /ð/ð /ð /ð#ð #ð #ð/ð /ð /ð /ð /r   r   c            	       óà  — e Zd Zed„ ¦   «         Z ej        d¬¦  «        d„ ¦   «         Zd„ Zd„ Z	d„ Z
d„ Zd	„ Zd
„ Zd„ Zd„ Zej                             dd ed¦  «        f ed¦  «         ed¦  «        f ed¦  «         ed¦  «        fg¦  «        d„ ¦   «         Zd„ Zej                             dd ed¦  «        f ed¦  «         ed¦  «        f ed¦  «         ed¦  «        fg¦  «        d„ ¦   «         Zd„ Zej                             dd ed¦  «        f ed¦  «         ed¦  «        f ed¦  «         ed¦  «        fg¦  «        d„ ¦   «         Zd„ Zd „ Zd!„ Zd"„ Zd#„ Zd$„ Zd%„ Z d&„ Z!dS )'Ú$TestFirstOrderActivationDeGroote2016c                  óš   — t          t          t          ¦  «        sJ ‚t          t          t          ¦  «        sJ ‚t          j        dk    sJ ‚d S )Nr   )r   r   r   r   r   r   r   r   r   z/TestFirstOrderActivationDeGroote2016.test_class„   sK   € åÕ:½NÑKÔKÐKÐKÐKÝÕ:½KÑHÔHÐHÐHÐHÝ/Ô8Ð<^Ò^Ð^Ð^Ð^Ð^Ð^r   Tr   c                 ó2  — d| _         t          d¦  «        | _        t          d¦  «        | _        t	          d¦  «        | _        t	          d¦  «        | _        t	          d¦  «        | _        t          | j         | j        | j        | j        ¦  «        | _	        d S )Nr   r   Úa_nameÚtau_aÚtau_dÚb)
r   r
   r   r?   r   r{   r|   r}   r   r   r    s    r   Ú._first_order_activation_de_groote_2016_fixturezSTestFirstOrderActivationDeGroote2016._first_order_activation_de_groote_2016_fixtureŠ   sw   € àˆŒ	Ý Ñ)Ô)ˆŒÝ Ñ)Ô)ˆŒÝ˜G‘_”_ˆŒ
Ý˜G‘_”_ˆŒ
Ý˜‘”ˆŒÝ8ØŒIØŒJØŒJØŒFñ	
ô 
ˆŒˆˆr   c                 ó\   — t          | j        ¦  «        }t          |t           ¦  «        sJ ‚d S r$   )r   r   r%   r&   s     r   r'   z2TestFirstOrderActivationDeGroote2016.test_instance™   s.   € Ý3°D´IÑ>Ô>ˆÝ˜(Õ$DÑEÔEÐEÐEÐEÐEÐEr   c                 óž  — t          j        | j        ¦  «        }t          |t           ¦  «        sJ ‚|j        t          d¦  «        k    sJ ‚|j        t          d¦  «        k    sJ ‚|j        t          d¦  «        k    sJ ‚|j        t          d¦  «        k    sJ ‚|j	        t          d¦  «        k    sJ ‚|j
        t          d¦  «        k    sJ ‚d S )Nú0.015ú0.060z10.0)r   r)   r   r%   r{   r   Úactivation_time_constantr|   Údeactivation_time_constantr}   Úsmoothing_rater&   s     r   r*   z7TestFirstOrderActivationDeGroote2016.test_with_defaults�   sÊ   € Ý3ÔAÀ$Ä)ÑLÔLˆÝ˜(Õ$DÑEÔEÐEÐEÐEØŒ~¥ w¡¤Ò/Ð/Ð/Ð/ØÔ0µE¸'±N´NÒBÐBÐBÐBØŒ~¥ w¡¤Ò/Ð/Ð/Ð/ØÔ2µe¸G±n´nÒDÐDÐDÐDØŒz�U 6™]œ]Ò*Ð*Ð*Ð*ØÔ&­%°©-¬-Ò7Ð7Ð7Ð7Ð7Ð7r   c                 ób   — t          | j        d¦  «        sJ ‚| j        j        | j        k    sJ ‚d S r,   r-   r    s    r   r/   z.TestFirstOrderActivationDeGroote2016.test_name§   r0   r   c                 óX   — t          | j        d¦  «        sJ ‚| j        j        dk    sJ ‚d S )Nr2   rG   r3   r    s    r   r4   z/TestFirstOrderActivationDeGroote2016.test_order«   r5   r   c                 óü   — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚t          d¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚| j        j        | j        j        u sJ ‚d S r7   r9   r:   s     r   Útest_excitationz4TestFirstOrderActivationDeGroote2016.test_excitation¯   r=   r   c                 óü   — t          j        t          ¦  «        5  d | j        _        d d d ¦  «         n# 1 swxY w Y   t          j        t          ¦  «        5  d | j        _        d d d ¦  «         d S # 1 swxY w Y   d S r$   )rt   ÚraisesÚAttributeErrorr   r   r8   r    s    r   Útest_excitation_is_immutablezATestFirstOrderActivationDeGroote2016.test_excitation_is_immutable·   óî   € ÝŒ]�>Ñ*Ô*ð 	#ð 	#Ø"ˆDŒMŒOð	#ð 	#ð 	#ñ 	#ô 	#ð 	#ð 	#ð 	#ð 	#ð 	#ð 	#øøøð 	#ð 	#ð 	#ð 	#åŒ]�>Ñ*Ô*ð 	,ð 	,Ø'+ˆDŒMÔ$ð	,ð 	,ð 	,ñ 	,ô 	,ð 	,ð 	,ð 	,ð 	,ð 	,ð 	,ð 	,øøøð 	,ð 	,ð 	,ð 	,ð 	,ð 	,ó   š3³7º7ÁA1Á1A5Á8A5c                 óÈ   — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚t          d¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚d S )Nr?   r@   rz   )r.   r   r
   r?   r@   rA   s     r   Útest_activationz4TestFirstOrderActivationDeGroote2016.test_activation½   sp   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý�t”} lÑ3Ô3Ð3Ð3Ð3Ý# HÑ-Ô-ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,ØŒ}Ô'¨:Ò5Ð5Ð5Ð5Ð5Ð5r   c                 óü   — t          j        t          ¦  «        5  d | j        _        d d d ¦  «         n# 1 swxY w Y   t          j        t          ¦  «        5  d | j        _        d d d ¦  «         d S # 1 swxY w Y   d S r$   )rt   r‹   rŒ   r   r?   r@   r    s    r   Útest_activation_is_immutablezATestFirstOrderActivationDeGroote2016.test_activation_is_immutableÄ   rŽ   r�   ztau_a, expectedNÚ
tau_a_namer{   r�   c                 ó|   — t          d|¬¦  «        }|j        |k    sJ ‚|j        |k    sJ ‚|j        |j        u sJ ‚d S )Nr   )rƒ   )r   r{   rƒ   )r!   r{   ro   r   s       r   Útest_activation_time_constantzBTestFirstOrderActivationDeGroote2016.test_activation_time_constantÊ   sb   € õ 4Ø¨Uð
ñ 
ô 
ˆð Œ~ Ò)Ð)Ð)Ð)ØÔ0°HÒ<Ð<Ð<Ð<ØŒ~ Ô!BÐBÐBÐBÐBÐBÐBr   c                 óü   — t          j        t          ¦  «        5  d | j        _        d d d ¦  «         n# 1 swxY w Y   t          j        t          ¦  «        5  d | j        _        d d d ¦  «         d S # 1 swxY w Y   d S r$   )rt   r‹   rŒ   r   r{   rƒ   r    s    r   Ú*test_activation_time_constant_is_immutablezOTestFirstOrderActivationDeGroote2016.test_activation_time_constant_is_immutableÚ   sï   € ÝŒ]�>Ñ*Ô*ð 	'ð 	'Ø"&ˆDŒMÔð	'ð 	'ð 	'ñ 	'ô 	'ð 	'ð 	'ð 	'ð 	'ð 	'ð 	'øøøð 	'ð 	'ð 	'ð 	'åŒ]�>Ñ*Ô*ð 	:ð 	:Ø59ˆDŒMÔ2ð	:ð 	:ð 	:ñ 	:ô 	:ð 	:ð 	:ð 	:ð 	:ð 	:ð 	:ð 	:øøøð 	:ð 	:ð 	:ð 	:ð 	:ð 	:r�   ztau_d, expectedÚ
tau_d_namer|   r‚   c                 ó|   — t          d|¬¦  «        }|j        |k    sJ ‚|j        |k    sJ ‚|j        |j        u sJ ‚d S )Nr   )r„   )r   r|   r„   )r!   r|   ro   r   s       r   Útest_deactivation_time_constantzDTestFirstOrderActivationDeGroote2016.test_deactivation_time_constantà   sb   € õ 4Ø¨uð
ñ 
ô 
ˆð Œ~ Ò)Ð)Ð)Ð)ØÔ2°hÒ>Ð>Ð>Ð>ØŒ~ Ô!DÐDÐDÐDÐDÐDÐDr   c                 óü   — t          j        t          ¦  «        5  d | j        _        d d d ¦  «         n# 1 swxY w Y   t          j        t          ¦  «        5  d | j        _        d d d ¦  «         d S # 1 swxY w Y   d S r$   )rt   r‹   rŒ   r   r|   r„   r    s    r   Ú,test_deactivation_time_constant_is_immutablezQTestFirstOrderActivationDeGroote2016.test_deactivation_time_constant_is_immutableð   sï   € ÝŒ]�>Ñ*Ô*ð 	'ð 	'Ø"&ˆDŒMÔð	'ð 	'ð 	'ñ 	'ô 	'ð 	'ð 	'ð 	'ð 	'ð 	'ð 	'øøøð 	'ð 	'ð 	'ð 	'åŒ]�>Ñ*Ô*ð 	<ð 	<Ø7;ˆDŒMÔ4ð	<ð 	<ð 	<ñ 	<ô 	<ð 	<ð 	<ð 	<ð 	<ð 	<ð 	<ð 	<øøøð 	<ð 	<ð 	<ð 	<ð 	<ð 	<r�   zb, expectedÚb_namer}   Ú10c                 ó|   — t          d|¬¦  «        }|j        |k    sJ ‚|j        |k    sJ ‚|j        |j        u sJ ‚d S )Nr   )r…   )r   r}   r…   )r!   r}   ro   r   s       r   Útest_smoothing_ratez8TestFirstOrderActivationDeGroote2016.test_smoothing_rateö   sb   € õ 4Ø 1ð
ñ 
ô 
ˆð Œz˜XÒ%Ð%Ð%Ð%ØÔ&¨(Ò2Ð2Ð2Ð2ØŒz˜XÔ4Ð4Ð4Ð4Ð4Ð4Ð4r   c                 óü   — t          j        t          ¦  «        5  d | j        _        d d d ¦  «         n# 1 swxY w Y   t          j        t          ¦  «        5  d | j        _        d d d ¦  «         d S # 1 swxY w Y   d S r$   )rt   r‹   rŒ   r   r}   r…   r    s    r   Ú test_smoothing_rate_is_immutablezETestFirstOrderActivationDeGroote2016.test_smoothing_rate_is_immutable  sî   € ÝŒ]�>Ñ*Ô*ð 	#ð 	#Ø"ˆDŒMŒOð	#ð 	#ð 	#ñ 	#ô 	#ð 	#ð 	#ð 	#ð 	#ð 	#ð 	#øøøð 	#ð 	#ð 	#ð 	#åŒ]�>Ñ*Ô*ð 	0ð 	0Ø+/ˆDŒMÔ(ð	0ð 	0ð 	0ñ 	0ô 	0ð 	0ð 	0ð 	0ð 	0ð 	0ð 	0ð 	0øøøð 	0ð 	0ð 	0ð 	0ð 	0ð 	0r�   c                 óì  — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚| j        j        | j        j        k    sJ ‚t	          | j        g¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚t          | j        j        t          ¦  «        sJ ‚t          | j        j        t          ¦  «        sJ ‚| j        j        j        dk    sJ ‚| j        j        j        dk    sJ ‚d S )NrE   rF   rQ   )r.   r   rE   rF   r   r?   r%   rI   rJ   s     r   Útest_state_varsz4TestFirstOrderActivationDeGroote2016.test_state_vars  rV   r   c                 óì  — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚| j        j        | j        j        k    sJ ‚t	          | j        g¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚t          | j        j        t          ¦  «        sJ ‚t          | j        j        t          ¦  «        sJ ‚| j        j        j        dk    sJ ‚| j        j        j        dk    sJ ‚d S rN   rR   rS   s     r   Útest_input_varsz4TestFirstOrderActivationDeGroote2016.test_input_vars  rV   r   c                 ó  — t          | j        d¦  «        sJ ‚t          | j        d¦  «        sJ ‚| j        j        | j        j        k    sJ ‚t	          | j        | j        | j        g¦  «        }| j        j        |k    sJ ‚| j        j        |k    sJ ‚t          | j        j        t          ¦  «        sJ ‚t          | j        j        t          ¦  «        sJ ‚| j        j        j	        dk    sJ ‚| j        j        j	        dk    sJ ‚d S )NrX   rY   )é   rG   )
r.   r   rX   rY   r   r{   r|   r}   r%   rI   rZ   s     r   Útest_constantsz3TestFirstOrderActivationDeGroote2016.test_constants$  sý   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý�t”} kÑ2Ô2Ð2Ð2Ð2ØŒ}Œ $¤-Ô"9Ò9Ð9Ð9Ð9Ý˜TœZ¨¬°T´VÐ<Ñ=Ô=ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,ØŒ}Ô&¨*Ò4Ð4Ð4Ð4Ý˜$œ-œ/­6Ñ2Ô2Ð2Ð2Ð2Ý˜$œ-Ô1µ6Ñ:Ô:Ð:Ð:Ð:ØŒ}ŒÔ$¨Ò.Ð.Ð.Ð.ØŒ}Ô&Ô,°Ò6Ð6Ð6Ð6Ð6Ð6r   c                 óè   — t          | j        d¦  «        sJ ‚t          dg¦  «        }| j        j        |k    sJ ‚t	          | j        j        t          ¦  «        sJ ‚| j        j        j        dk    sJ ‚d S )Nr^   rG   rQ   r_   r`   s     r   Útest_Mz+TestFirstOrderActivationDeGroote2016.test_M0  st   € Ý�t”} cÑ*Ô*Ð*Ð*Ð*Ý˜Q˜C‘[”[ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,Ý˜$œ-œ/­6Ñ2Ô2Ð2Ð2Ð2ØŒ}ŒÔ$¨Ò.Ð.Ð.Ð.Ð.Ð.r   c           	      óð  — t          | j        d¦  «        sJ ‚d| j        t          dd¦  «        t          dd¦  «        | j        z  z   z  z  t          dd¦  «        t          dd¦  «        t          | j        | j        | j        z
  z  ¦  «        z  z   z  t          dd¦  «        t          dd¦  «        | j        z  z   | j        z  t          dd¦  «        t          dd¦  «        t          | j        | j        | j        z
  z  ¦  «        z  z
  z  z   | j        | j        z
  z  }t          |g¦  «        }| j        j
        |k    sJ ‚t          | j        j
        t          ¦  «        sJ ‚| j        j
        j        dk    sJ ‚d S )Nrd   rG   é   r©   rQ   )r.   r   r{   r   r?   r   r}   r   r|   r   rd   r%   rI   )r!   Úda_exprre   s      r   rf   z+TestFirstOrderActivationDeGroote2016.test_F7  sZ  € Ý�t”} cÑ*Ô*Ð*Ð*Ð*à�”�X a¨™^œ^­h°q¸!©n¬n¸T¼VÑ.CÑCÑDÑEÝ�q˜!‰nŒn�x¨¨1™~œ~­d°4´6¸4¼6ÀDÄF¹?Ñ3KÑ.LÔ.LÑLÑLñNå˜˜A‘”¥¨!¨Q¡¤°´Ñ!6Ñ6¸¼
ÑBÝ�q˜!‰nŒn�x¨¨1™~œ~­d°4´6¸4¼6ÀDÄF¹?Ñ3KÑ.LÔ.LÑLÑLñNñNð Œf�t”v‰oñ	ð 	õ ˜W˜IÑ&Ô&ˆ
ØŒ}Œ *Ò,Ð,Ð,Ð,Ý˜$œ-œ/­6Ñ2Ô2Ð2Ð2Ð2ØŒ}ŒÔ$¨Ò.Ð.Ð.Ð.Ð.Ð.r   c           	      ó~  — t          | j        d¦  «        sJ ‚d| j        t          dd¦  «        t          dd¦  «        | j        z  z   z  z  t          dd¦  «        t          dd¦  «        t          | j        | j        | j        z
  z  ¦  «        z  z   z  t          dd¦  «        t          dd¦  «        | j        z  z   | j        z  t          dd¦  «        t          dd¦  «        t          | j        | j        | j        z
  z  ¦  «        z  z
  z  z   | j        | j        z
  z  }t          |g¦  «        }| j         
                    ¦   «         }||k    sJ ‚t          |t          ¦  «        sJ ‚|j        dk    sJ ‚t          | j        j                             | j        j        ¦  «        |z
  ¦  «        t#          d¦  «        k    sJ ‚d S )Nrh   rG   r®   r©   rQ   )r.   r   r{   r   r?   r   r}   r   r|   r   rh   r%   rI   r   r^   Úsolverd   r	   )r!   r¯   ri   rh   s       r   rj   z-TestFirstOrderActivationDeGroote2016.test_rhsE  sš  € Ý�t”} eÑ,Ô,Ð,Ð,Ð,à�”�X a¨™^œ^­h°q¸!©n¬n¸T¼VÑ.CÑCÑDÑEÝ�q˜!‰nŒn�x¨¨1™~œ~­d°4´6¸4¼6ÀDÄF¹?Ñ3KÑ.LÔ.LÑLÑLñNå˜˜A‘”¥¨!¨Q¡¤°´Ñ!6Ñ6¸¼
ÑBÝ�q˜!‰nŒn�x¨¨1™~œ~­d°4´6¸4¼6ÀDÄF¹?Ñ3KÑ.LÔ.LÑLÑLñNñNð Œf�t”v‰oñ	ð 	õ ˜w˜iÑ(Ô(ˆØŒm×ÒÑ!Ô!ˆØ�lÒ"Ð"Ð"Ð"Ý˜#�vÑ&Ô&Ð&Ð&Ð&ØŒy˜FÒ"Ð"Ð"Ð"Ý˜œœ×-Ò-¨d¬m¬oÑ>Ô>ÀÑDÑEÔEÍÈqÉÌÒQÐQÐQÐQÐQÐQr   c                 ó>   — d}t          | j        ¦  «        |k    sJ ‚d S )Nz|FirstOrderActivationDeGroote2016('name', activation_time_constant=tau_a, deactivation_time_constant=tau_d, smoothing_rate=b)rl   rn   s     r   rp   z.TestFirstOrderActivationDeGroote2016.test_reprU  s/   € ð ð 	õ �D”MÑ"Ô" hÒ.Ð.Ð.Ð.Ð.Ð.r   )"r   rq   rr   rs   r   rt   ru   r~   r'   r*   r/   r4   r‰   r�   r‘   r“   ÚmarkÚparametrizer   r   r–   r˜   r›   r�   r   r¡   r£   r¥   r§   rª   r¬   rf   rj   rp   r   r   r   rw   rw   ‚   sã  € € € € € àð_ð _ñ „\ð_ð
 €V„^˜DÐ!Ñ!Ô!ð
ð 
ñ "Ô!ð
ðFð Fð Fð8ð 8ð 8ð/ð /ð /ð(ð (ð (ð;ð ;ð ;ð,ð ,ð ,ð6ð 6ð 6ð,ð ,ð ,ð „[×ÒØà�6�6˜,Ñ'Ô'Ð(ØˆV�G‰_Œ_˜f˜f W™oœoÐ.ØˆU�7‰^Œ^˜U˜U 7™^œ^Ð,ð	
ñô ðCð Cñô ðCð:ð :ð :ð „[×ÒØà�6�6˜,Ñ'Ô'Ð(ØˆV�G‰_Œ_˜f˜f W™oœoÐ.ØˆU�7‰^Œ^˜U˜U 7™^œ^Ð,ð	
ñô ðEð Eñô ðEð<ð <ð <ð „[×ÒØà�6�6˜(Ñ#Ô#Ð$ØˆV�C‰[Œ[˜&˜& ™+œ+Ð&ØˆW�T‰]Œ]˜G˜G D™MœMÐ*ð	
ñô ð5ð 5ñô ð5ð0ð 0ð 0ð
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   Úsympy.physics.biomechanicsr   r   r   Ú!sympy.physics.biomechanics._mixinr   Úsympy.simplify.simplifyr   r   rw   r   r   r   ú<module>r¿      sQ  ðØ HÐ Hà €€€à Ð Ð Ð Ð Ð Ø 7Ð 7Ð 7Ð 7Ð 7Ð 7Ð 7Ð 7Ð 7Ð 7Ø 6Ð 6Ð 6Ð 6Ð 6Ð 6Ø !Ð !Ð !Ð !Ð !Ð !Ø &Ð &Ð &Ð &Ð &Ð &Ø 2Ð 2Ð 2Ð 2Ð 2Ð 2ðð ð ð ð ð ð ð ð ð ð
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