【Python】含有变量的矩阵相乘计算

在做正运动学推导时碰到一题六个旋转矩阵相乘的计算题，而其中矩阵又全部是由未知量组成。苦于手算，况且目前只想到用numpy处理又处理不了未知量，只得自己实现一个含有未知量矩阵的相乘运算程序

示例

矩阵a：

矩阵b

结果：

代码

# import numpy as np

def matMul(a, b):
    rowLen = len(a)
    colLen = len(a[0])

    for i in range(rowLen):
        for j in range(colLen):
            a[i][j] = str(a[i][j])
            b[j][i] = str(b[j][i])

    mat1 = divideMat(a)
    mat2 = divideMat(b)
    # print(mat1)
    # print(mat2)

    answer = [[[] for j in range(rowLen)] for i in range(rowLen)]
    # 进行乘法
    for i in range(rowLen):
        tar1 = mat1[i]
        for j in range(rowLen):
            tar2 = [mat2[k][j] for k in range(colLen)]

            res = 0
            # for k in range(Len):
            #     res += tar1[k] * tar2[k]
            res = merge(tar1, tar2)

            answer[i][j] = res
    # show(answer)
    rt = recoverMat(answer)
    return rt

def divideMat(mat):
    rowLen = len(mat)
    colLen = len(mat[0])
    rt = [[[] for j in range(colLen)] for i in range(rowLen)]
    for i in range(rowLen):
        for j in range(colLen):
            t = mat[i][j]

            # 在减号前面补上加号
            start = 1
            while True:
                start = t.find('-', start)
                if start == -1:
                    break
                t = t[0:start] + '+' + t[start:]
                start += 2
            # 按+号分割，将一个单元分割开来
            for target in t.split('+'):
                k = 0
                c = 1   #系数
                if target[k] == '-':
                    k += 1
                    c *= -1
                n = ''
                while '0' <= target[k] <= '9':
                    n = n + target[k]
                    k += 1
                    if k >= len(target):
                        break
                if n == '':
                    n = '1' #没有系数部分的话系数设为1
                c = c*int(n)
                rt[i][j].append({'coe':c, 'var':target[k:]})
    return rt

def recoverMat(mat):
    rt = []
    for i in mat:
        row = []
        for j in i:
            s = ''
            for k in j:
                coe = k['coe']
                var = k['var']
                if coe < 0:
                    if coe == -1 and var:
                        s = s + '-' + var
                    elif coe == -1 and not var:
                        s = s + '-1'
                    else:
                        s = s + str(coe) + var
                elif coe == 0:
                    s = s + '+' + str(coe)
                else:
                    if coe == 1 and var:
                        s = s + '+' + var
                    elif coe == 1 and not var:
                        s = s + '+1'
                    else:
                        s = s + '+' + str(coe) + var
            if s[0] == '+':
                s = s[1:]
            row.append(s)
        rt.append(row)
    return rt

def merge(m1, m2):
    rt = [] # 该项计算结果
    # print(m1, m2)
    for i in range(len(m1)):
        tar1 = m1[i]
        tar2 = m2[i]    # [{'coe': 1, 'var': 'c2'}]
        coe = 0
        var = ''
        # print(tar1, tar2)
        for j in tar1:
            for k in tar2:
                coe = j['coe'] * k['coe']
                if not coe:
                    continue
                var = j['var'] + k['var']
                rt.append({'coe':coe, 'var':var})
    if not rt:
        rt.append({'coe':0, 'var':''})
    return rt

def show(mat):
    for i in mat:
        for j in range(len(i)):
            print(i[j], '      ' ,end='')
        print()

if __name__ == '__main__':
    a = [
        ['c1','0','-s1','0'],
        ['s1','0','c1','0'],
        ['0','-1','0','13'],
        ['0','0','0','1']
    ]
    b = [
        ['c2','-s2','0','8c2'],
        ['s2','c2','0','8s2'],
        ['0','0','1','ds'],
        ['0','0','0','1']
    ]
    c = [
        ['c3', '0', 's3', '8c3'],
        ['s3', '0', '-c3', '8s3'],
        ['0', '1', '0', '0'],
        ['0', '0', '0', '1']
    ]
    d = [
        ['c4', '0', '-s4', '0'],
        ['s4', '0', 'c4', '0'],
        ['0', '-1', '0', 'de'],
        ['0', '0', '0', '1']
    ]
    e = [
        ['c5', '0', '-s5', '0'],
        ['s5', '0', 'c5', '0'],
        ['0', '-1', '0', '0'],
        ['0', '0', '0', '1']
    ]
    f = [
        ['c6', '-s6', '0', '0'],
        ['s6', 'c6', '0', '0'],
        ['0', '0' ,'1' , '0'],
        ['0', '0', '0', '1']
    ]
    k1 = matMul(a,b)
    show(k1)
    k2 = matMul(k1,c)
    show(k2)
    k3 = matMul(k2,d)
    show(k3)
    k4 = matMul(k3,e)
    k5 = matMul(k4,f)
    show(k5)

    test1 = [
        [1,2],
        [1,2],
        [3,4]
    ]
    test2 = [
        [2,5,1],
        [2,3,2]
    ]
    ans = matMul(test1, test2)
    show(ans)

其实矩阵纯数字运算没有什么，同时加上变量后就涉及到两个不同运算法则的处理。

我的处理办法就是将矩阵中一个位置的元素按+/-拆开来存储，例如：2b+3c就是{'coe':2, 'var':'b'}和{'coe':3, 'var':'c'}。这样对应位相乘时只需计算系数与系数相乘，变量直接以字符串相加即可。

并且能够对纯数字进行运算，只不过得到得结果需要自己加法计算一下
一劳永逸