Python 带变量矩阵求逆

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于 2022-03-21 12:42:53 发布

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本文链接：https://blog.csdn.net/catherine627/article/details/123632597

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import sympy
from sympy import *
t= symbols('t')
px1, py1, pz1, vx1, vy1, vz1, ax1, ay1, az1 = symbols('px1 py1 pz1 vx1 vy1 vz1 ax1 ay1 az1')
px2, py2, pz2, vx2, vy2, vz2, ax2, ay2, az2 = symbols('px2 py2 pz2 vx2 vy2 vz2 ax2 ay2 az2')
t2 = t * t
t3 = t * t2
t4 = t * t3
t5 = t * t4
A = Matrix([[0, 0, 0, t5, 5*t4, 20*t3], [0, 0, 0, t4, 4*t3, 12*t2], [0, 0, 0, t3, 3*t2, 6*t], [0, 0, 2, t2, 2*t, 2], [0, 1, 0, t, 1, 0], [1, 0, 0, 1, 0, 0]])
P = Matrix([[px1, vx1, ax1, px2, vx2, ax2], [py1, vy1, ay1, py2, vy2, ay2], [pz1, vz1, az1, pz2, vz2, az2]])
C = P * A**(-1)
print(expand(C))