TheEdgeOfRage
/
pendulum
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Simplify seq and par script

This commit is contained in:
Pavle Portic 2019-12-26 20:48:13 +01:00
parent 75867a64db
commit 4bed0ce3f0
Signed by: TheEdgeOfRage
GPG Key ID: 6758ACE46AA2A849
2 changed files with 13 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
par.py
View File

@ -26,32 +26,21 @@ g = 9.81
def deriv(y, t, L1, L2, m1, m2):
"""Return the first derivatives of y = theta1, z1, theta2, z2."""
theta1, z1, theta2, z2 = y
c, s = np.cos(theta1 - theta2), np.sin(theta1 - theta2)
theta1dot = z1
z1dot = (m2 * g * np.sin(theta2) * c - m2 * s * (L1 * z1**2 * c + L2 * z2**2) - (m1 + m2) * g * np.sin(theta1)) / L1 / (m1 + m2 * s**2)
theta2dot = z2
z2dot = ((m1 + m2) * (L1 * z1**2 * s - g * np.sin(theta2) + g * np.sin(theta1) * c) + m2 * L2 * z2**2 * s * c) / L2 / (m1 + m2 * s**2)
return theta1dot, z1dot, theta2dot, z2dot
def solve(L1, L2, m1, m2, tmax, dt, y0):
t = np.arange(0, tmax + dt, dt)
# Do the numerical integration of the equations of motion
y = odeint(deriv, y0, t, args=(L1, L2, m1, m2))
theta1, theta2 = y[:, 0], y[:, 2]
# Convert to Cartesian coordinates of the two bob positions.
x1 = L1 * np.sin(theta1)
y1 = -L1 * np.cos(theta1)
x2 = x1 + L2 * np.sin(theta2)
y2 = y1 - L2 * np.cos(theta2)
return theta1, theta2, x1, y1, x2, y2
return y[:, 0], y[:, 2]
def _init_pool(*data):
@ -65,9 +54,9 @@ def _worker(args):
theta1_init, theta2_init = args
y0 = np.array([theta1_init, 0, theta2_init, 0])
theta1, theta2, x1, y1, x2, y2 = solve(L1, L2, m1, m2, tmax, dt, y0)
theta1, theta2 = solve(L1, L2, m1, m2, tmax, dt, y0)
return theta1_init, theta2_init, theta1, theta2, x1, y1, x2, y2
return theta1_init, theta2_init, theta1[-1], theta2[-1]
def gen_simulation_model_params(theta_resolution):
@ -99,8 +88,8 @@ def convert_results(results):
yield {
'theta1_init': r[0],
'theta2_init': r[1],
'theta1': r[2][-1],
'theta2': r[3][-1],
'theta1': r[2],
'theta2': r[3],
}
@ -153,4 +142,3 @@ def main():
if __name__ == '__main__':
main()

27
seq.py
View File

@ -23,32 +23,20 @@ g = 9.81
def deriv(y, t, L1, L2, m1, m2):
"""Return the first derivatives of y = theta1, z1, theta2, z2."""
theta1, z1, theta2, z2 = y
c, s = np.cos(theta1 - theta2), np.sin(theta1 - theta2)
theta1dot = z1
z1dot = (m2 * g * np.sin(theta2) * c - m2 * s * (L1 * z1**2 * c + L2 * z2**2) - (m1 + m2) * g * np.sin(theta1)) / L1 / (m1 + m2 * s**2)
theta2dot = z2
z2dot = ((m1 + m2) * (L1 * z1**2 * s - g * np.sin(theta2) + g * np.sin(theta1) * c) + m2 * L2 * z2**2 * s * c) / L2 / (m1 + m2 * s**2)
return theta1dot, z1dot, theta2dot, z2dot
def solve(L1, L2, m1, m2, tmax, dt, y0):
t = np.arange(0, tmax + dt, dt)
# Do the numerical integration of the equations of motion
y = odeint(deriv, y0, t, args=(L1, L2, m1, m2))
theta1, theta2 = y[:, 0], y[:, 2]
# Convert to Cartesian coordinates of the two bob positions.
x1 = L1 * np.sin(theta1)
y1 = -L1 * np.cos(theta1)
x2 = x1 + L2 * np.sin(theta2)
y2 = y1 - L2 * np.cos(theta2)
return theta1, theta2, x1, y1, x2, y2
return y[:, 0], y[:, 2]
def gen_simulation_model_params(theta_resolution):
@ -60,11 +48,10 @@ def gen_simulation_model_params(theta_resolution):
def simulate_pendulum(theta_resolution, dt=DEFAULT_DT, tmax=DEFAULT_TMAX, L1=DEFAULT_L1, L2=DEFAULT_L2, m1=DEFAULT_M1, m2=DEFAULT_M2):
for theta1_init, theta2_init in gen_simulation_model_params(theta_resolution):
# Initial conditions: theta1_init, dtheta1_init/dt, theta2_init, dtheta2_init/dt.
y0 = np.array([theta1_init, 0, theta2_init, 0])
theta1, theta2 = solve(L1, L2, m1, m2, tmax, dt, y0)
theta1, theta2, x1, y1, x2, y2 = solve(L1, L2, m1, m2, tmax, dt, y0)
yield theta1_init, theta2_init, theta1, theta2, x1, y1, x2, y2
yield theta1_init, theta2_init, theta1[-1], theta2[-1]
def convert_results(results):
@ -72,8 +59,8 @@ def convert_results(results):
yield {
'theta1_init': r[0],
'theta2_init': r[1],
'theta1': r[2][-1],
'theta2': r[3][-1],
'theta1': r[2],
'theta2': r[3],
}
@ -114,13 +101,13 @@ def main():
help="Simulation time step, %f by default" % DEFAULT_DT
)
args = parser.parse_args()
results = simulate_pendulum(
theta_resolution=args.resolution,
dt=args.dt,
tmax=args.tmax,
)
converted_results = convert_results(results)
write_csv(args.results_file, converted_results)