got an error of "NameError: global name 'math' is not defined" by the example in site about sympybotics HOT 12 CLOSED

could be the problem of x64 version?
Now I am downloading the python 3 and try it.

from sympybotics.

https://github.com/cdsousa/SymPyBotics/blob/master/sympybotics/dynamics/dyn_parm_dep.py#L22

So this is the line. I can't see any mention of math, hmmm?

from sympybotics.

yes, that is the reason I am so confused.
and also I can not find the "regressor_func" in any files.

from sympybotics.

I would guess this is a python 3 library as i see uses of print().

from sympybotics.

I doubt it would have anything with machine architecture. Well i hope it doesn't shudders.
Let me know how you get on.

from sympybotics.

same error under python 3.7

Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "C:\Python\3\lib\site-packages\sympybotics-1.0.dev0-py3.7.egg\sympybotics\robotmodel.py", line 122, in calc_base_parms
  File "C:\Python\3\lib\site-packages\sympybotics-1.0.dev0-py3.7.egg\sympybotics\dynamics\dynamics.py", line 55, in calc_base_parms
  File "C:\Python\3\lib\site-packages\sympybotics-1.0.dev0-py3.7.egg\sympybotics\dynamics\dyn_parm_dep.py", line 22, in find_dyn_parm_deps
  File "<string>", line 6, in regressor_func
NameError: name 'math' is not defined

===================================
this is the code

# -*- coding: utf-8 -*-
import math
import sympy
import sympybotics

# import the MDH
rbtdef = sympybotics.RobotDef('exp',  # robot name
                              [(0, 0, 0.32, 'q'),
                               ('pi/2', 0.05, 0, 'q+pi/2'),
                               (0, 0.27, 0, 'q'),
                               ('pi/2', 0.07, 0.3, 'q+pi'),
                               ('pi/2', 0, 0, 'q+pi'),
                               ('pi/2', 0, 0.0785, 'q')],
                              dh_convention='modified'
                              );

# G
rbtdef.gravityacc = sympy.Matrix([0.0, 0.0, -9.81]);

print(rbtdef.dynparms());

rbt = sympybotics.RobotDynCode(rbtdef, verbose=True);

tau_str = sympybotics.robotcodegen.robot_code_to_func('C', rbt.invdyn_code, 'tau_out', 'tau', rbtdef);
print(tau_str)

# matrix H
Mregress = sympybotics.robotcodegen.robot_code_to_func('C', rbt.H_code, 'Mregress', 'Mregress', rbtdef);
print(Mregress)

# base para
rbt.calc_base_parms();
print(rbt.dyn.baseparms)

the process to install python is (for both python 2 and 3)
1, download and install the python x64 version
2, use the python -m pip install --user numpy scipy matplotlib ipython jupyter pandas sympy nose to install numpy and sympy
3, download the sympybotics-master.zip and then python setup.py install
that is it.

from sympybotics.

hmmm so it seems to think regressor_func is a string. implying :

        Z[i * dof: i * dof + dof, :] = numpy.matrix(
            regressor_func(q, dq, ddq)).reshape(dof, parm_num)

should be:

        Z[i * dof: i * dof + dof, :] = numpy.matrix( regressor_func(q, dq, ddq)).reshape(dof, parm_num)

(no line break.)

I will try and reproduce your bug in a little while.

from sympybotics.

I do not think so.
and I got same error after I modified the dyn_parm_dep.py in egg file.

from sympybotics.

OK
problem solved
check this:
https://github.com/crush0441/SymPyBotics

I found it in Insights - Network

I suggest to fix it

from sympybotics.

yes, that is the reason I am so confused.
and also I can not find the "regressor_func" in any files.

Hi, have you solved the "regressor_func" issue?

from sympybotics.

Please open PR whenever it fits.

from sympybotics.

OK
problem solved
check this:
https://github.com/crush0441/SymPyBotics

I found it in Insights - Network

I suggest to fix it

OK
problem solved
check this:
https://github.com/crush0441/SymPyBotics

I found it in Insights - Network

I suggest to fix it

yes,I solve it, thanks

from sympybotics.