numpy

Explaining what this post is about
I was recently online and providing help to a fellow python coder, and a query came up about how you would rewrite some code that had included the sine function  and the cosine function

We were asked to see if we could translate this code:

L_1=1;
L_2=1.5;
q_0=0.5;
q_1=pi()/4;
q_2=pi()/6;
%Position of the end effetor
x= q_0+L_1*cos(q_1)-L_2*cos(pi()-q_1-q_2)
y=L_1*sin(q_1)+L_2*sin(pi()-q_1-q_2)

into its python equivalent.

Some background about the output

In order to get the desired result, there is a need to import a package to provide some of the mathematical analysis required, and was achieved through using Numpy statistical analysis

This package allows the following functions to be used in the logic:

• Pi
• Cosine
• Sine

And the result is

As a result, the below shows the output of the above question converted to its Python equivalent:

import numpy as np

a= np.pi
print("PI value is ", a)

L_1=1
L_2=1.5
q_0=0.5
q_1=a/4
q_2=a/6

print("L_1 value is",L_1)
print("L_2 value is",L_2)
print("q_0 value is",q_0)
print("q_1 value is",q_1)
print("q_2 value is",q_2)


x= (q_0+(L_1*(np.cos(q_1)))-(L_2*(np.cos(a-q_1-q_2))))
y= (L_1*(np.sin(q_1))+(L_2*(np.sin(a-q_1-q_2))))

print("x value is " , x)
print("y value is " , y)

with its output showing:

PI value is  3.141592653589793
L_1 value is 1
L_2 value is 1.5
q_0 value is 0.5
q_1 value is 0.7853981633974483
q_2 value is 0.5235987755982988
0.7071067811865476
-0.25881904510252085
x value is  1.5953353488403288
y value is  2.15599552062015