WIP: V2 implementation notebooks

notebook/diff_eq.ipynb

@@ -1,102 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "code",
-   "execution_count": 6,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/latex": [
-       "$\\displaystyle \\left[\\begin{matrix}0 & 0 & - v \\sin{\\left(\\theta \\right)} & 0 & 0\\\\0 & 0 & v \\cos{\\left(\\theta \\right)} & 0 & 0\\\\0 & 0 & 0 & 0 & 0\\\\0 & 0 & 0 & 0 & 0\\\\0 & 0 & 0 & - v \\cos{\\left(\\psi \\right)} & 0\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "Matrix([\n",
-       "[0, 0, -v*sin(theta),           0, 0],\n",
-       "[0, 0,  v*cos(theta),           0, 0],\n",
-       "[0, 0,             0,           0, 0],\n",
-       "[0, 0,             0,           0, 0],\n",
-       "[0, 0,             0, -v*cos(psi), 0]])"
-      ]
-     },
-     "execution_count": 6,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "import sympy as sp\n",
-    "\n",
-    "x,y,theta,psi,cte,v,w = sp.symbols(\"x y theta psi cte v w\")\n",
-    "\n",
-    "gs = sp.Matrix([[ sp.cos(theta)*v],\n",
-    "             [ sp.sin(theta)*v],\n",
-    "             [w],\n",
-    "             [w],\n",
-    "             [ v*sp.sin(-psi)]])\n",
-    "\n",
-    "state = sp.Matrix([x,y,theta,psi,cte])\n",
-    "\n",
-    "gs.jacobian(state)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": 7,
-   "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/latex": [
-       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta \\right)} & 0\\\\\\sin{\\left(\\theta \\right)} & 0\\\\0 & 1\\\\0 & 1\\\\- \\sin{\\left(\\psi \\right)} & 0\\end{matrix}\\right]$"
-      ],
-      "text/plain": [
-       "Matrix([\n",
-       "[cos(theta), 0],\n",
-       "[sin(theta), 0],\n",
-       "[         0, 1],\n",
-       "[         0, 1],\n",
-       "[ -sin(psi), 0]])"
-      ]
-     },
-     "execution_count": 7,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
-   "source": [
-    "state = sp.Matrix([v,w])\n",
-    "\n",
-    "gs.jacobian(state)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": []
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "Python 3",
-   "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": "3.6.9"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 4
-}