当我试图运行这个程序时,它给出了属性错误。我是 python 新手,所以如果我错过任何东西,请原谅。谢谢
import math
import numpy as np
from sympy import *
from sympy import diff
import sympy as sp
p=np.matrix([[0],[0],[0],[1]])
pdash=p
zi=Matrix(2, 1, lambda i,j: Symbol('z%d' % (i+1)))
xi=Matrix(2, 1, lambda i,j: Symbol('x%d' % (i+1)))
alphai=Matrix(2,1, lambda i,j: Symbol('a%d' % (i+1)))
thetai=Matrix(2,1, lambda i,j: Symbol('t%d' % (i+1)))
transformed=np.matrix([[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]])
def transformation_fn(zi,xi,thetai,alphai):
ca=cos((alphai))
sa=sin((alphai))
ct=cos((thetai))
st=sin((thetai))
transformation=np.matrix([[ct,-st*ca,st*sa,xi*ct],
[st,ct*ca,-ct*sa,xi*st],
[0,sa,ca,zi],
[0,0,0,1]])
return transformation
for z,x,t,a in zip(zi,xi,thetai,alphai):
transformed=transformed*transformation_fn(z,x,t,a)
e=transformed*p
jacobian=e.diff(t1)
print jacobian
如果 diff() 在这种情况下是否有效,我还尝试了示例代码 import math import numpy as np from sympy import * from sympy import diff import sympy as sp
x, y, e1 = symbols('x y e1')
e=Matrix(2,1,lambda i,j:Symbol('e%d'%(i+1)))
I=np.matrix([[1 ,0 ],
[0 ,1 ]])
k=I*e
print k.diff(e1)