Merge pull request #147 from tkoolen/symbolic-simplify

Simplify using map!
JuliaRobotics · Jan 31, 2017 · fe47724 · fe47724
2 parents f2bf264 + 4ac60c7
commit fe47724
Showing 1 changed file with 17 additions and 23 deletions.
diff --git a/examples/Symbolic double pendulum.ipynb b/examples/Symbolic double pendulum.ipynb
@@ -9,7 +9,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 1,
    "metadata": {
     "collapsed": false
    },
@@ -34,7 +34,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 2,
    "metadata": {
     "collapsed": false
    },
@@ -65,7 +65,7 @@
        "[ g ]"
       ]
      },
-     "execution_count": 3,
+     "execution_count": 2,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -88,7 +88,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 3,
    "metadata": {
     "collapsed": false
    },
@@ -101,7 +101,7 @@
        "    Vertex: lower_link, Edge: elbow"
       ]
      },
-     "execution_count": 4,
+     "execution_count": 3,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -138,7 +138,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 4,
    "metadata": {
     "collapsed": false
    },
@@ -149,7 +149,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": 5,
    "metadata": {
     "collapsed": false
    },
@@ -166,7 +166,7 @@
        "[q_2]"
       ]
      },
-     "execution_count": 6,
+     "execution_count": 5,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -178,7 +178,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 6,
    "metadata": {
     "collapsed": false
    },
@@ -195,7 +195,7 @@
        "[v_2]"
       ]
      },
-     "execution_count": 7,
+     "execution_count": 6,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -214,7 +214,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": 7,
    "metadata": {
     "collapsed": false
    },
@@ -232,27 +232,21 @@
        "[         I_2 + c_2*l_1*cos(q_2)                     I_2          ]"
       ]
      },
-     "execution_count": 8,
+     "execution_count": 7,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
     "# Mass matrix\n",
     "M = mass_matrix(x)\n",
-    "function simplify!(a::Array{SymPy.Sym})\n",
-    "    for i in eachindex(a)\n",
-    "        a[i] = simplify(a[i])\n",
-    "    end\n",
-    "    a\n",
-    "end\n",
-    "simplify!(M.data) # Note: M is a Symmetric matrix type; need to simplify the underlying data\n",
+    "map!(simplify, M.data) # Note: M is a Symmetric matrix type; need to simplify the underlying data\n",
     "full(M) # convert to full form so that it is pretty-printed (minor bug in SymPy.jl)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": 8,
    "metadata": {
     "collapsed": false
    },
@@ -274,7 +268,7 @@
        "                          2      "
       ]
      },
-     "execution_count": 9,
+     "execution_count": 8,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -286,7 +280,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": 9,
    "metadata": {
     "collapsed": false
    },
@@ -300,7 +294,7 @@
        "-g*(c_1*cos(q_1) + c_2*cos(q_1 + q_2) + l_1*m_2*cos(q_1))"
       ]
      },
-     "execution_count": 10,
+     "execution_count": 9,
      "metadata": {},
      "output_type": "execute_result"
     }