reduce a complete vector
- Subject: reduce a complete vector
- From: alexandre at emc
- Date: Mon, 19 Nov 2001 15:30:58 -0200 (BRST)
I've
A:matrix([cos(tB)*(cos(tC)*SIN(tD)+sin(tC)*cos(tD))],
[r*sin(tB)*cos(tC)*(cos(tC)*cos(tD)-sin(tC)*sin(tD))
+sin(tB)*(-r*sin(tC)-dA)*(cos(tC)*sin(tD)+sin(tC)*COS(tD
and I need get
B:matrix([cos(tB)*sin(tD + tC)],[r*sin(tB)*cos(tD+2*tC) -
dA*sin(tB)*sin(tD+tC)]);
I try:
fixup(x) :=trigreduce(factorout(ratexpand(trigexpand(x)),sin,cos));
then
map(fixup,A);
but the result is not so simple...it's:
SIN(tD + tC + tB) SIN(tD + tC - tB)
(D8) MATRIX([----------------- + -----------------],
2 2
r SIN(tD + 2 tC + tB) r SIN(tD - 2 tC + tB)
--------------------- + ---------------------
2 2 r SIN(tD + 2 tC + tB)
[--------------------------------------------- + ---------------------
2 4
r SIN(tD + 2 tC - tB) r SIN(tD - 2 tC - tB)
--------------------- + ---------------------
2 2 r SIN(tD + 2 tC - tB)
- --------------------------------------------- - ---------------------
2 4
dA COS(tD + tC + tB) dA COS(tD + tC - tB) r SIN(tD - 2 tC + tB)
+ -------------------- - -------------------- - ---------------------
2 2 4
r SIN(tD - 2 tC - tB)
+ ---------------------])
4
is not so simple...