§
    OŠtj¦
  ã                   óL   — d dl mZ d dlmZ d dlmZmZmZmZm	Z	 d„ Z
d„ Zd„ ZdS )é    )Úsymbols)Úraises)ÚinertiaÚinertia_of_point_massÚInertiaÚReferenceFrameÚPointc            	      ó  — t          d¦  «        } t          d¦  «        \  }}}t          d¦  «        \  }}}t          | |||¦  «        || j        | j        z  z  || j        | j        z  z  z   || j        | j        z  z  z   k    sJ ‚t          | ddd¦  «        d| j        | j        z  z  k    sJ ‚t          t          d„ ¦  «         t          | ||||||¦  «        || j        | j        z  z  || j        | j        z  z  z   || j        | j        z  z  z   || j        | j        z  z  z   || j        | j        z  z  z   || j        | j        z  z  z   || j        | j        z  z  z   || j        | j        z  z  z   || j        | j        z  z  z   k    sJ ‚d S )NÚNúixx iyy izzzixy iyz izxr   c                  ó&   — t          dddd¦  «        S )Nr   )r   © ó    úh/var/www/html/CA-Chatbot/venv/lib/python3.11/site-packages/sympy/physics/mechanics/tests/test_inertia.pyú<lambda>z%test_inertia_dyadic.<locals>.<lambda>   s   € �g a¨¨A¨qÑ1Ô1€ r   )r   r   r   ÚxÚyÚzr   Ú	TypeError)r   ÚixxÚiyyÚizzÚixyÚiyzÚizxs          r   Útest_inertia_dyadicr      sÎ  € Ý�sÑÔ€AÝ˜MÑ*Ô*�M€CˆˆcÝ˜MÑ*Ô*�M€CˆˆcÝ�1�c˜3 Ñ$Ô$¨°´°a´c±	Ñ):¸SØŒS�1”3‰Yñ>ñ *Ø ¤ q¤s¡Ñ+ñ*,ò -ð -ð -ð -å�1�a˜˜AÑÔ ! q¤s¨Q¬S¡y¡/Ò1Ð1Ð1Ð1Ý
�9Ð1Ð1Ñ2Ô2Ð2Ý�1�c˜3  S¨#¨sÑ3Ô3¸¸q¼sÀQÄS¹yÑ8IØ�1”3˜œ‘9Ññ9Ø # q¤s¨Q¬S¡yÑ 1ñ92Ø47¸1¼3ÀÄ¹9Ñ4Eñ9FØHKØ	
ŒˆqŒs‰ñIñ9à˜QœS 1¤3™YÑ'ñ9(à*-°´°q´s±Ñ*;ñ9<à>AÀQÄSØŒCñFñ ?ñ9ð ˜!œ# ¤™)Ñ$ñ9%ò &ð &ð &ð &ð &ð &r   c                  óZ  — t          d¦  «        \  } }}}t          d¦  «        }| |j        z  }t          |||¦  «        }||| dz  z  |j        |j        z  z  || dz  z  |j        |j        z  z  z   k    sJ ‚||j        z  }t          |||¦  «        }|||dz  z  |j        |j        z  z  ||dz  z  |j        |j        z  z  z   k    sJ ‚||j        z  }t          |||¦  «        }|||dz  z  |j        |j        z  z  ||dz  z  |j        |j        z  z  z   k    sJ ‚||z   |z   }	t          ||	|¦  «        }|||dz  |dz  z   z  |j        |j        z  z  || z  |z  |j        |j        z  z  z
  || z  |z  |j        |j        z  z  z
  || z  |z  |j        |j        z  z  z
  || dz  |dz  z   z  |j        |j        z  z  z   ||z  |z  |j        |j        z  z  z
  || z  |z  |j        |j        z  z  z
  ||z  |z  |j        |j        z  z  z
  || dz  |dz  z   z  |j        |j        z  z  z   k    sJ ‚d S )Nzr s t mr   é   )r   r   r   r   r   r   )
ÚrÚsÚtÚmr   ÚpxÚIÚpyÚpzÚps
             r   Útest_inertia_of_point_massr(      s�  € Ý˜Ñ#Ô#�J€A€qˆ!ˆQÝ�sÑÔ€Aà	
ˆQŒS‰€BÝ˜a  QÑ'Ô'€AØ��A�q‘D‘˜AœC !¤#™IÑ&¨¨Q°©T©°Q´S¸1¼3±YÑ)?Ñ?Ò?Ð?Ð?Ð?à	
ˆQŒS‰€BÝ˜a  QÑ'Ô'€AØ��A�q‘D‘˜AœC !¤#™IÑ&¨¨Q°©T©°Q´S¸1¼3±YÑ)?Ñ?Ò?Ð?Ð?Ð?à	
ˆQŒS‰€BÝ˜a  QÑ'Ô'€AØ��A�q‘D‘˜AœC !¤#™IÑ&¨¨Q°©T©°Q´S¸1¼3±YÑ)?Ñ?Ò?Ð?Ð?Ð?à
ˆR‰�"‰€AÝ˜a  AÑ&Ô&€AØ��a˜‘d˜Q ™T‘kÑ" a¤c¨A¬C¡iÑ0Ø�Q‘˜‘˜aœc A¤C™iÑ(ñ)à�Q‘˜‘˜aœc A¤C™iÑ(ñ)ð �Q‘˜‘˜aœc A¤C™iÑ(ñ)ð �a˜‘d˜Q ™T‘kÑ" a¤c¨A¬C¡iÑ0ñ	1ð
 �Q‘˜‘˜aœc A¤C™iÑ(ñ)ð �Q‘˜‘˜aœc A¤C™iÑ(ñ)ð �Q‘˜‘˜aœc A¤C™iÑ(ñ)ð �a˜‘d˜Q ™T‘kÑ" a¤c¨A¬C¡iÑ0ñ1ò 2ð 2ð 2ð 2ð 2ð 2r   c                  ó\  ‡‡‡— t          d¦  «        } t          d¦  «        Št          d¦  «        \  }}}|| j        | j        z  z  || j        | j        z  z  z   || j        | j        z  z  z   Št          t          | |||¦  «        ‰¦  «        Št          ‰t          ¦  «        sJ ‚‰ 
                    ¦   «         dk    sJ ‚‰j        ‰k    sJ ‚‰j        ‰k    sJ ‚‰d         ‰k    sJ ‚‰d         ‰k    sJ ‚‰‰‰fk    sJ ‚t          t          ˆˆˆfd„¦  «         ‰t          ‰‰¦  «        k    sJ ‚‰t          j        ‰| |||¦  «        k    sJ ‚t          t          ˆfd„¦  «         t          t          ˆfd	„¦  «         t          t          ˆfd
„¦  «         t          t          ˆfd„¦  «         d S )Nr   ÚOr   zFInertia(dyadic=ixx*(N.x|N.x) + iyy*(N.y|N.y) + izz*(N.z|N.z), point=O)r   é   c                  ó   •— ‰ ‰‰fk    S )Nr   )r$   ÚI_dyadicr*   s   €€€r   r   z%test_inertia_object.<locals>.<lambda>@   s   ø€ ˜a A x =Ò0€ r   c                  ó   •— ‰ dz   S ©N)r+   r   r   ©r$   s   €r   r   z%test_inertia_object.<locals>.<lambda>D   s   ø€ ˜a &™j€ r   c                  ó   •— d‰ z   S r/   r   r0   s   €r   r   z%test_inertia_object.<locals>.<lambda>E   s   ø€ ˜f q™j€ r   c                  ó   •— ‰ dz  S ©Nr   r   r0   s   €r   r   z%test_inertia_object.<locals>.<lambda>F   ó   ø€ ˜a !™e€ r   c                  ó   •— d‰ z  S r3   r   r0   s   €r   r   z%test_inertia_object.<locals>.<lambda>G   r4   r   )r   r	   r   r   r   r   r   r   Ú
isinstanceÚtupleÚ__repr__ÚdyadicÚpointr   r   Úfrom_inertia_scalars)r   r   r   r   r$   r-   r*   s       @@@r   Útest_inertia_objectr<   2   sß  øøø€ Ý�sÑÔ€AÝˆc‰
Œ
€AÝ˜MÑ*Ô*�M€CˆˆcØ�a”c˜AœC‘iÑ  3¨!¬#°´©)Ñ#4Ñ4°s¸a¼cÀAÄC¹iÑ7HÑH€HÝ•˜˜3  SÑ)Ô)¨1Ñ-Ô-€AÝ�a�ÑÔÐÐÐØ�:Š:‰<Œ<ð 6ò 7ð 7ð 7ð 7àŒ8�xÒÐÐÐØŒ7�aŠ<ˆ<ˆ<ˆ<ØˆQŒ4�8ÒÐÐÐØˆQŒ4�1Š9ˆ9ˆ9ˆ9Ø�˜1�ÒÐÐÐÝ
�9Ð0Ð0Ð0Ð0Ð0Ð0Ñ1Ô1Ð1Ø•˜˜8Ñ$Ô$Ò$Ð$Ð$Ð$Ø•Ô,¨Q°°3¸¸SÑAÔAÒAÐAÐAÐAå
�9Ð(Ð(Ð(Ð(Ñ)Ô)Ð)Ý
�9Ð(Ð(Ð(Ð(Ñ)Ô)Ð)Ý
�9�m�m�m�mÑ$Ô$Ð$Ý
�9�m�m�m�mÑ$Ô$Ð$Ð$Ð$r   N)Úsympyr   Úsympy.testing.pytestr   Úsympy.physics.mechanicsr   r   r   r   r	   r   r(   r<   r   r   r   ú<module>r@      s´   ðØ Ð Ð Ð Ð Ð Ø 'Ð 'Ð 'Ð 'Ð 'Ð 'ðEð Eð Eð Eð Eð Eð Eð Eð Eð Eð Eð Eð Eð Eð&ð &ð &ð2ð 2ð 2ð:%ð %ð %ð %ð %r   