Actuator-Controller-HITL/code/useful_scripts/verlet_coefficients_calculator.py
SchrodingerError 482d724e20 Initial Commit
2024-08-14 14:42:16 -05:00

30 lines
510 B
Python

import numpy as np
num_points = 7
num_columns = num_points + 1
RHS = np.zeros(num_columns)
RHS[2] = 1
taylor_coef_matrix = np.zeros((num_columns, num_columns))
bases = [j for j in range(-num_points+1, 2)]
for i in range(num_columns):
row = []
for base in bases:
row.append(base**i)
taylor_coef_matrix[i] = row
x = np.linalg.solve(taylor_coef_matrix, RHS)
multiplier = 1 / x[-1]
x = x[0:-1]
x = -1*x
x = np.append(x, [0.5])
x = x * multiplier
print(x)