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lines changed Original file line number Diff line number Diff line change @@ -21,18 +21,18 @@ def derivs(state, t):
2121
2222 del_ = state [2 ] - state [0 ]
2323 den1 = (M1 + M2 )* L1 - M2 * L1 * cos (del_ )* cos (del_ )
24- dydx [1 ] = (M2 * L1 * state [1 ]* state [1 ]* sin (del_ )* cos (del_ )
25- + M2 * G * sin (state [2 ])* cos (del_ )
26- + M2 * L2 * state [3 ]* state [3 ]* sin (del_ )
27- - (M1 + M2 )* G * sin (state [0 ]))/ den1
24+ dydx [1 ] = (M2 * L1 * state [1 ]* state [1 ]* sin (del_ )* cos (del_ ) +
25+ M2 * G * sin (state [2 ])* cos (del_ ) +
26+ M2 * L2 * state [3 ]* state [3 ]* sin (del_ ) -
27+ (M1 + M2 )* G * sin (state [0 ]))/ den1
2828
2929 dydx [2 ] = state [3 ]
3030
3131 den2 = (L2 / L1 )* den1
32- dydx [3 ] = (- M2 * L2 * state [3 ]* state [3 ]* sin (del_ )* cos (del_ )
33- + (M1 + M2 )* G * sin (state [0 ])* cos (del_ )
34- - (M1 + M2 )* L1 * state [1 ]* state [1 ]* sin (del_ )
35- - (M1 + M2 )* G * sin (state [2 ]))/ den2
32+ dydx [3 ] = (- M2 * L2 * state [3 ]* state [3 ]* sin (del_ )* cos (del_ ) +
33+ (M1 + M2 )* G * sin (state [0 ])* cos (del_ ) -
34+ (M1 + M2 )* L1 * state [1 ]* state [1 ]* sin (del_ ) -
35+ (M1 + M2 )* G * sin (state [2 ]))/ den2
3636
3737 return dydx
3838
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