Hello.
Rotations may be defined as matrix:
rot_x(a):=matrix([1,0,0],[0,cos(a),-sin(a)],[0,sin(a),cos(a)])$
Using this I calculate some angular velocities with matrix composition:
trigsimp( diff( rot_x(a).rot_y(b).rot_z(b) ,t) . rot_z(-c).rot_y(-b).rot_x(-a) )
The problem is that this is to slow for complex rotations.
I would like to define a abstract rotation function to have:
diff(rotation( direction , angle_variable ), t ) ->
rotation_d(direction, angle_variable, diff(angle_variable,t))
also a simplification rule for dot product:
rotation(direction,angle_variable) . rotation(direction, -angle_variable) -> 1
Finally, a simple substitution may provide the final result.
With such function, calculation for angular velocity may be done on a
higher level of abstraction.
My knowledge of maxima and lisp are not enough to create such a
function. Could You please give some sugestions?
Regards.
Pawe? Cesar Sanjuan Szklarz.