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a year ago
5.4 kB
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H = [[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] [0, 0, 0, cos(psi)*cos(theta), cos(psi)*sin(phi)*sin(theta) - cos(phi)*sin(psi), sin(phi)*sin(psi) + cos(phi)*cos(psi)*sin(theta), sin(psi)*(w*cos(phi) + v*sin(phi)) + cos(psi)*sin(theta)*(v*cos(phi) - w*sin(phi)), -cos(psi)*(u*sin(theta) - cos(theta)*(w*cos(phi) + v*sin(phi))), - sin(psi)*(sin(theta)*(w*cos(phi) + v*sin(phi)) + u*cos(theta)) - cos(psi)*(v*cos(phi) - w*sin(phi)), 0, 0, 0, 0, 0, 0, 1, 0, 0] [0, 0, 0, cos(theta)*sin(psi), cos(phi)*cos(psi) + sin(phi)*sin(psi)*sin(theta), cos(phi)*sin(psi)*sin(theta) - cos(psi)*sin(phi), sin(psi)*sin(theta)*(v*cos(phi) - w*sin(phi)) - cos(psi)*(w*cos(phi) + v*sin(phi)), -sin(psi)*(u*sin(theta) - cos(theta)*(w*cos(phi) + v*sin(phi))), cos(psi)*(sin(theta)*(w*cos(phi) + v*sin(phi)) + u*cos(theta)) - sin(psi)*(v*cos(phi) - w*sin(phi)), 0, 0, 0, 0, 0, 0, 0, 1, 0] [0, 0, 0, -sin(theta), cos(theta)*sin(phi), cos(phi)*cos(theta), cos(theta)*(v*cos(phi) - w*sin(phi)), - sin(theta)*(w*cos(phi) + v*sin(phi)) - u*cos(theta), 0, 0, 0, 0, 0, 0, 0, 0, 0, 1] [0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] [0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] [0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0] [0, 0, 0, u/(u^2 + v^2 + w^2)^(1/2), v/(u^2 + v^2 + w^2)^(1/2), w/(u^2 + v^2 + w^2)^(1/2), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] [0, 0, 0, -w/(u^2*(w^2/u^2 + 1)), 0, 1/(u*(w^2/u^2 + 1)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] [0, 0, 0, -(u*v)/((u^2 + w^2)^(3/2)*(v^2/(u^2 + w^2) + 1)), 1/((u^2 + w^2)^(1/2)*(v^2/(u^2 + w^2) + 1)), -(v*w)/((u^2 + w^2)^(3/2)*(v^2/(u^2 + w^2) + 1)), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]];
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