Jason K. Moore
Jason K. Moore
> there's no good reason to serve those versions of the docs One good reason for hosting prior versions is for intersphinx mapping. If an external project relies on a...
I assumed that the objects.inv file is constructed for each version of the docs. If so, you could point to any public version of the docs.
Yes it does generate an objects.inv for each version. For example: ``` python -m sphinx.ext.intersphinx https://pydy.readthedocs.io/en/stable/objects.inv python -m sphinx.ext.intersphinx https://pydy.readthedocs.io/en/v0.5.0/objects.inv ``` give different results.
@Peter230655 thanks for pasting these in. I'll look into them at some point.
One quick guess is that the body_fixed method writes the angular velocity in terms of the body fixed reference frame only but the axis method writes the angular velocity in...
See the line here: https://moorepants.github.io/learn-multibody-dynamics/differentiation.html#partial-derivatives ``` dvdalpha = v.diff(alpha, A) ``` it produces much longer equations that it should.
I think this is the likely cause: https://github.com/sympy/sympy/issues/23078, `.diff()` tries to retain the components in the same reference frame and the equations are more complex.
@Peter230655 I noticed one issue with your code. You call `A.set_ang_vel(N, u1*N.x + u2*N.y + u3*N.z)` which makes for unecessarily complex velocity equations. If you do a body fixed orientation...
Sorry, edited that last post.
If I make the change above I get: `with method 'Body' RHS contains 586 operations`