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top.clj
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top.clj
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;
; Copyright © 2017 Colin Smith.
; This work is based on the Scmutils system of MIT/GNU Scheme:
; Copyright © 2002 Massachusetts Institute of Technology
;
; This is free software; you can redistribute it and/or modify
; it under the terms of the GNU General Public License as published by
; the Free Software Foundation; either version 3 of the License, or (at
; your option) any later version.
;
; This software is distributed in the hope that it will be useful, but
; WITHOUT ANY WARRANTY; without even the implied warranty of
; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
; General Public License for more details.
;
; You should have received a copy of the GNU General Public License
; along with this code; if not, see <http://www.gnu.org/licenses/>.
;
(ns sicmutils.examples.top
(:refer-clojure :exclude [+ - * / zero? partial ref])
(:require [sicmutils.env :refer :all]
[sicmutils.mechanics.rigid :as rigid]))
(defn L
[A B C gMR]
(let [T (rigid/T-rigid-body A B C)
V (fn [[t [theta _ _] qdot]]
(* gMR (cos theta)))]
(- T V)))
(defn L-axisymmetric
[A C gMR]
(L A A C gMR))
(defn state-derivative
[A B C gMR]
(Lagrangian->state-derivative
(L A B C gMR)))
(defn equations
[]
(simplify ((state-derivative 'A 'B 'C 'gMR)
(up 't (up 'theta 'phi 'psi) (up 'thetadot 'phidot 'psidot)))))