PyDy Code Generation

This distribution provides some code generation facilities for PyDy. For now, it generates functions that can evaluate the right hand side of the ordinary differential equations generated with sympy.physics.mechanics with three different backends: SymPy's lambdify, Theano, and Cython.

Dependencies

• Python: 2.7
• setuptools
• NumPy: >=1.6.1
• SymPy: >=0.7.4
• SciPy: >=0.9
• Cython: >=0.15.1
• Theano: >=0.6.0

Installation

For now, download the source and install manually. Make sure your environment has all the dependencies met. Here is one option:

$ git clone git@github.com:PythonDynamics/pydy-code-gen.git
$ cd pydy-code-gen
$ python setup.py install

Usage

This is an example of a simple 1 degree of freedom system: a mass, spring, damper system under the influence of gravity and a force:

/ / / / / / / / /
-----------------
  |    |     |   | g
  \   | |    |   V
k /   --- c  |
  |    |     | x, v
 --------    V
 |  m   | -----
 --------
    | F
    V

Derive the system:

from sympy import symbols
import sympy.physics.mechanics as me

mass, stiffness, damping, gravity = symbols('m, k, c, g')

position, speed = me.dynamicsymbols('x v')
positiond = me.dynamicsymbols('x', 1)
force = me.dynamicsymbols('F')

ceiling = me.ReferenceFrame('N')

origin = me.Point('origin')
origin.set_vel(ceiling, 0)

center = origin.locatenew('center', position * ceiling.x)
center.set_vel(ceiling, speed * ceiling.x)

block = me.Particle('block', center, mass)

kinematic_equations = [speed - positiond]

force_magnitude = mass * gravity - stiffness * position - damping * speed + force
forces = [(center, force_magnitude * ceiling.x)]

particles = [block]

kane = me.KanesMethod(ceiling, q_ind=[position], u_ind=[speed],
                     kd_eqs=kinematic_equations)
kane.kanes_equations(forces, particles)

Store the expressions and symbols in sequences for the code generation:

mass_matrix = kane.mass_matrix_full
forcing_vector = kane.forcing_full
constants = (mass, stiffness, damping, gravity)
coordinates = (position,)
speeds = (speed,)
specified = (force,)

Now generate the function needed for numerical evaluation of the ODEs. The generator can use various back ends: lambdify, theano, or cython:

from pydy_code_gen.code import generate_ode_function

evaluate_ode = generate_ode_function(mass_matrix, forcing_vector,
    constants, coordinates, speeds, specified, generator='cython')

Integrate the equations of motion:

from numpy import array, linspace, sin
from scipy.integrate import odeint

x0 = array([0.1, -1.0])
args = {'constants': array([1.0, 1.0, 0.2, 9.8]),
        'specified': lambda x, t: sin(t)}
t = linspace(0.0, 10.0, 1000)

y = odeint(evaluate_ode, x0, t, args=(args,))

Plot the results:

import matplotlib.pyplot as plt

plt.plot(t, y)
plt.legend((str(position), str(speed)))
plt.show()

Development Environment

Additional Development Dependencies

• pip
• nose: 1.3.0
• matplotlib: >0.99 (only for benchmark script)

Installation

The following installation assumes you have virtualenv wrapper and all the dependencies needed to build the packages:

$ mkvirtualenv pydy-dev
(pydy-dev)$ pip install numpy scipy cython nose
(pydy-dev)$ pip install matplotlib # make sure to do this after numpy
(pydy-dev)$ pip install git+git://github.com/Theano/Theano.git
(pydy-dev)$ pip install git+git://github.com/sympy/sympy.git
(pydy-dev)$ git clone git@github.com:PythonDynamics/pydy-code-gen.git
(pydy-dev)$ cd pydy-code-gen
(pydy-dev)$ python setup.py develop

Run the tests:

(pydy-dev)$ nosetests

Run the benchmark to test the n-link pendulum problem.:

(pydy-dev)$ python bin/benchmark.py <max # of links> <# of time steps>