[GiNaC-list] (no subject)
Javier Ros Ganuza
jros at unavarra.es
Tue Mar 7 19:31:30 CET 2006
Hello! :)
When performing matrix multiplications expressions get expanded like in
the following Example.
Is there a way to avoid expansion, that is to leave the parenthesis
Thanks
Javier Ros
Example:
-----------------
matrix aux1
[[-d331*sin(q3)*dq3-d332*cos(q3)*dq3],[d331*cos(q3)*dq3-d332*sin(q3)*dq3],[0]]
matrix R23
[[cos(q3),-sin(q3),0],[sin(q3),cos(q3),0],[0,0,1]]
matrix R12.mul(aux1)
[[d332*sin(q2)*sin(q3)*dq3-d331*cos(q2)*sin(q3)*dq3-d332*cos(q3)*cos(q2)*dq3-d331*sin(q2)*cos(q3)*dq3],[-d332*cos(q2)*sin(q3)*dq3-d331*sin(q2)*sin(q3)*dq3+d331*cos(q3)*cos(q2)*dq3-d332*sin(q2)*cos(q3)*dq3],[0]]
-----------------
What I want is to obtain something like
cos(q3)*(-d331*sin(q3)*dq3-d332*cos(q3)*dq3)+.... and so on for the
first (0,0) matrix element.
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