HW 08 Problem 2

[C-Olsen]

I am stuck on the final portion of the of problem 2 on HW8. I am running into an issue in python when trying to set up the solve_ivp.

Currently my inputs are:
q, Ct, & Qd=9x1
Cq=9x9

These were created by sympy and lamdify'd into the _link variables.

After defining my ODE function i'm running into an error in the fsolve line:

t = np.linspace(0,6,200)
h = t[1]-t[0]
theta0 = 0 
q0 = fsolve(lambda q: np.hstack([C_link(q, 0, 1, 1)[:,0], q[2]-theta0]), np.zeros(9))
y0 = np.zeros(9)
dq0 = np.linalg.solve(np.vstack([Cq_link(q0, 0, L1, L2), np.array([0, 0, 1])]), 
                      np.vstack([-Ct_link(q0, 0, L1, L2), 0]))
y0[0:3] = q0.reshape(3, )
y0[3:] = dq0.reshape(3, )

sol = solve_ivp(lambda t,y: ode_bar(t,y,1/h,np.sqrt(2)/h)[0],\
            y0 = y0,t_span=[0,t.max()],t_eval=t)

The returned error is:

TypeError: fsolve: there is a mismatch between the input and output shape of the 'func' argument ''.Shape should be (9,) but it is (10,).

Has anyone run into this? Is there an issue with the sizes of my constraint matrices or is this the issue in this section of code?

[C-Olsen]

This question can be disregarded. I have abandoned the SYMPY approach. I am now using the functions from HW-07 as a starting point, and modifying for the difference in constraints & initial conditions for this problem.