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These are replies submitted by Bendesarts


Thank you again for your answer.

The only problem with this method is that for each constraint equation I have to well identify the terms non trigonometric of each trigonometric expressions.

That is to say for my equation :


Do you have ideas so as to make an automatic identification of this set ?

The idea is to be able to use this procedure on one constraints equation without being obliged to analyze these terms before.

Thank your for your help


Thank you but it is possible to find something shorter with Flatten it will be great


Perfect! Thank you.

My only remark is that why Maple doesn't make also the simplification with the minus.

@Thomas Richard 

Thank for your remark but I knew this. But, this time, I was conducting calculations with classic maple sheet. Consequently, I'm very interested by this function Jacobian of the module Student[MultivariateCalculus]

In order to preserve functions in my jacobian matrix, i have used the following code @Kitonum :

eq1 := l1*cos(theta(t))+l2*sin(beta(t))-x(t):
eq2 := l1*sin(theta(t))-l2*cos(beta(t)):
T:=[theta(t)=thetaDT, beta(t)=betaDT,x(t)=xDT]:
eq1:=subs(T, eq1);
eq2:=subs(T, eq2);
Phi:=subs(map(t->rhs(t)=lhs(t),T), Phi);

If you have better, let me know.

Thank you for your help.


Great, you answer perfectly to my need. It is amazing that there is no function which can do this kind of transformation. You code works fine but was expected to use just one specific function. 

However, the following subsitutions seems mandatory.

T:=[alpha0(t)=alpha, beta0(t)=beta,psi[1](t)=psi, theta[1](t)=theta, gamma0(t)=gamma]:

Indeed, when I launch your code with the subsitutions before not all the groups are created.

add(applyrule([cos(u::anything)*cos(v::anything)-sin(u::anything)*sin(v::anything)=cos(u+v), cos(u::anything)*sin(v::anything)+sin(u::anything)*cos(v::anything)=sin(u+v), sin(u::anything)*sin(v::anything)-cos(u::anything)*cos(v::anything)=-cos(u+v), -sin(v::anything)*cos(u::anything)-sin(u::anything)*cos(v::anything)=-sin(u+v)], simplify(coeff(lhs(eq_liaison[1]),i), size))*i, i={x0(t),xp[1](t),xb[1],yb[1],zb[1],l2[1],l3[1]});

May you explain why I need the subsitutions that you have defined in T variable ? 

Thank you for your help


I use worksheets with
- Text region (created by T icon) for the text and comments,
- Maple Input (red prompts with lines which are computed).

The point is that I would like to include "typeset math" (equations, symbols but just for the symbols) in the text region so that my worksheet can be easier to read.

Thank you in advance for your ideas.


@Markiyan Hirnyk 



OK Thank you.

For this calculation, there is a third way to my mind : Equate(X,A);

So, It seems that I can do all the operations of tilde operator with map, zip, equate functions.

As I'm not a big fan of using too much symbols in my code, I think that, for the moment, I will use the functions (map, zip, equate ) above which are more explicit for me.




It is a new comment to revive this post.

Thanks a lot for your help.

@Rouben Rostamian  

So do you use the document mode, don't you ?

In this case, can you have the same presentation as Code Edit region but not in the dedicated windows ?


I try to add all my understanding about this code by adding comments and printf.

I precise the points where i have difficulties with questions marks.

Can you help me to add more comments on this code ?

Thanks a lot for your help.


Thanks a lot for your help.

This code was working except for the plots.

However, I have still a small blocking point. In fact, to use the interpolatinf curves as trajectory setpoints in MapleSim, i need to definie these curves as explicit functions y=f(x) and not parametric curves. 

In fact, in my study case, I have 3 vectors ti, xi, yi and I would like to build the curves x(t) et y(t) which are respectively the curves which interpolate the points M1(t1,x1), … ,Mn(tn,xn), and P1(t1,y1), … ,Pn(tn,yn),
For the moment, the code gives a result with parametric curves.

My chance is that the vector ti is regurlary space. In other words, ti+1 -  ti keeps constant. Thus, I believe that it is possible to transform the parametric curves to explicit functions in this case x=f(t) et y=f(t).

I try to adapt my code to obtain results as explicit functions. But, the result obtained is a bit strange, the curve seems to be sampled. 

Can you have a look to my code in order to see if you see the blocking point ? I remember that my objective is to obtain explicit functions.

Here my code:

Thanks a lot for your help.

@Rouben Rostamian  

This exactly what I was looking for.

However, isn't it possible to have the same kind of indentation but with the classic presentation of a maple worksheet ?


I manage it works.

The process was :

1) Use ExcelTools:-Import(Folder\file.xls) to export the data and store it as a matrix.

2) Create a Datatable for this new created matrix.

3) Use this matrix.

Now, it the link with the Excel sheet dispear, my worksheet continue to work since the data are stored in the worksheet !



Very good indeed.

And have you a idea so that I can feed the DataTable directly with a code line ?

The idea is to make this process:


Thank you for your help.

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