From 652e36c22d1089ba74dc9c9489ac20b7b96adbf5 Mon Sep 17 00:00:00 2001
From: gyz <yizeguo1@126.com>
Date: Thu, 27 Feb 2025 16:37:56 +0800
Subject: [PATCH] vault backup: 2025-02-27 16:37:56

---
 补课/多体动力学/05_vectors.ipynb              | 108 ++++++++++++++++++
 软件组工作/25.2.20 25年度计划-孙博士提意见.md |  14 +++
 2 files changed, 122 insertions(+)

diff --git a/补课/多体动力学/05_vectors.ipynb b/补课/多体动力学/05_vectors.ipynb
index e69de29..0b9df35 100644
--- a/补课/多体动力学/05_vectors.ipynb
+++ b/补课/多体动力学/05_vectors.ipynb
@@ -0,0 +1,108 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import sympy as sm\n",
+    "import sympy.physics.mechanics as me\n",
+    "sm.init_printing()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "q1, q2, q3, q4 = sm.symbols('q1:5')\n",
+    "l1, l2, l3, l4 = sm.symbols('l1:5')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "N, A, B, C = sm.symbols(\"N, A, B, C\", cls=me.ReferenceFrame)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/latex": [
+       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(q_{1} \\right)} & \\sin{\\left(q_{1} \\right)} & 0\\\\- \\sin{\\left(q_{1} \\right)} \\cos{\\left(q_{2} \\right)} & \\cos{\\left(q_{1} \\right)} \\cos{\\left(q_{2} \\right)} & \\sin{\\left(q_{2} \\right)}\\\\\\sin{\\left(q_{1} \\right)} \\sin{\\left(q_{2} \\right)} & - \\sin{\\left(q_{2} \\right)} \\cos{\\left(q_{1} \\right)} & \\cos{\\left(q_{2} \\right)}\\end{matrix}\\right]$"
+      ],
+      "text/plain": [
+       "⎡    cos(q₁)           sin(q₁)          0   ⎤\n",
+       "⎢                                           ⎥\n",
+       "⎢-sin(q₁)⋅cos(q₂)  cos(q₁)⋅cos(q₂)   sin(q₂)⎥\n",
+       "⎢                                           ⎥\n",
+       "⎣sin(q₁)⋅sin(q₂)   -sin(q₂)⋅cos(q₁)  cos(q₂)⎦"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "A.orient_body_fixed(N, (q1, q2, 0),'ZXZ')\n",
+    "A.dcm(N)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "B.orient_axis(A, q3, A.x)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "C.orient_body_fixed(B, (q3, q4, 0), 'XZX')"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Turtle",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.11.8"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/软件组工作/25.2.20 25年度计划-孙博士提意见.md b/软件组工作/25.2.20 25年度计划-孙博士提意见.md
index 79266f9..4219243 100644
--- a/软件组工作/25.2.20 25年度计划-孙博士提意见.md	
+++ b/软件组工作/25.2.20 25年度计划-孙博士提意见.md	
@@ -7,3 +7,17 @@
 有验证
 
 
+交付物弄清楚
+
+做好varification
+
+
+请外面的人review
+
+  
+
+fast了解深，优点缺点，怎么改进，把人家的全部理解了再现也行
+
+  
+
+写时间节点，什么时候什么节点做出来，例子要多一些，程序和实际的例子都要testing,评审请外部有经验的提意见。
\ No newline at end of file