Mambo Toolbox Functions

This function is not described in Multibody Mechanics and Visualization by Harry Dankowicz, published by Springer Verlag UK, 2004.

Calling Sequence

CoeffExtract(desc, [s1, ..., sn])

Parameters

desc: Mambo column description

s1, ..., sn: variable names

Description

The function CoeffExtract returns a Mambo description with number of rows equal to the number of rows of its first argument and number of columns equal to the number of variable names.

The (i,j)-th element of the output equals the coefficient of the j-th variable in the i-th row of the first argument.

Examples

>Restart(): >DeclareObservers(A): >DeclarePoints(A,P): >DeclareTriads(a): >DefineObservers(A,A,a): >DefinePoints(A,P,a,q1,q2,q3): >DeclareStates(q1,q2,q3): >kde:=DiffTime({q1^2+q2^2+q3^2=0}) union {q1t=u1,q2t=u2}: >kde:=solve(kde,{seq(cat(q,i,t),i=1..3)}): >vel:=VelocityDescription([subs(kde,LinearVelocity(A,P))]);

$vel := table ([(1, 1) = table ([1 = table ([Triad = a, Coordinates = [\begin{array}{c} u1 \\ u2 \\ - \frac{q1 u1 + q2 u2}{q3} \end{array}]]), Type = Vector, Size = 1]), Type = Description, Size = [1, 1]])$

>CoeffExtract(vel,[u1,u2]);

$table ([(1, 2) = table ([1 = table ([Triad = a, Coordinates = [\begin{array}{c} 0 \\ 1 \\ - \frac{q2}{q3} \end{array}]]), Type = Vector, Size = 1]), (1, 1) = table ([1 = table ([Triad = a, Coordinates = [\begin{array}{c} 1 \\ 0 \\ - \frac{q1}{q3} \end{array}]]), Type = Vector, Size = 1]), Type = Description, Size = [1, 2]])$

Toolbox functions

&**, &++, &--, &xx, &oo &>, &>=, &<, &<=, &==, &!= AngularMomentum AngularVelocity CoeffExtract DeclareObservers DeclarePoints DeclareStates DeclareTriads DefineNeighbors DefineObjects DefineObservers DefinePoints DefineTriads DiffTime Express FindCoordinates FindOrientation FindPosition FindRotation FindTranslation ForceDescription GeometryOutput LinearMomentum LinearVelocity MakeDescription MakeRotations MakeTranslations MomentumDescription MotionOutput NullVector Restart Simplify Undo VectorLength VelocityDescription


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