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Bicycle Model

This project is a work in progress on bicycle modelling. The primary goal is to derive symbolic equations of motion for a bicycle model and output these equations to C/C++ code that is can be used in numerical studies. A secondary goal is to experiment with code output techniques that may eventually be included as part of sympy.physics.mechanics.

Requirements

Python code

  • sympy
  • numpy

C++ code

  • cmake 2.8 or later
  • Eigen 3.1 or later

Instructions

Running the Python code

$ cd derivation
$ python derivation.py

Building the C++ code

$ mkdir build
$ cd build
$ cmake -D <PATH TO EIGEN3 FOLDER> ..
$ make

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Extended bicycle model

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