.. only:: html .. note:: :class: sphx-glr-download-link-note Click :ref:`here ` to download the full example code .. rst-class:: sphx-glr-example-title .. _sphx_glr_gallery_animation_double_pendulum_sgskip.py: =========================== The double pendulum problem =========================== This animation illustrates the double pendulum problem. Double pendulum formula translated from the C code at http://www.physics.usyd.edu.au/~wheat/dpend_html/solve_dpend.c .. code-block:: default from numpy import sin, cos import numpy as np import matplotlib.pyplot as plt import scipy.integrate as integrate import matplotlib.animation as animation G = 9.8 # acceleration due to gravity, in m/s^2 L1 = 1.0 # length of pendulum 1 in m L2 = 1.0 # length of pendulum 2 in m M1 = 1.0 # mass of pendulum 1 in kg M2 = 1.0 # mass of pendulum 2 in kg def derivs(state, t): dydx = np.zeros_like(state) dydx[0] = state[1] delta = state[2] - state[0] den1 = (M1+M2) * L1 - M2 * L1 * cos(delta) * cos(delta) dydx[1] = ((M2 * L1 * state[1] * state[1] * sin(delta) * cos(delta) + M2 * G * sin(state[2]) * cos(delta) + M2 * L2 * state[3] * state[3] * sin(delta) - (M1+M2) * G * sin(state[0])) / den1) dydx[2] = state[3] den2 = (L2/L1) * den1 dydx[3] = ((- M2 * L2 * state[3] * state[3] * sin(delta) * cos(delta) + (M1+M2) * G * sin(state[0]) * cos(delta) - (M1+M2) * L1 * state[1] * state[1] * sin(delta) - (M1+M2) * G * sin(state[2])) / den2) return dydx # create a time array from 0..100 sampled at 0.05 second steps dt = 0.05 t = np.arange(0, 20, dt) # th1 and th2 are the initial angles (degrees) # w10 and w20 are the initial angular velocities (degrees per second) th1 = 120.0 w1 = 0.0 th2 = -10.0 w2 = 0.0 # initial state state = np.radians([th1, w1, th2, w2]) # integrate your ODE using scipy.integrate. y = integrate.odeint(derivs, state, t) x1 = L1*sin(y[:, 0]) y1 = -L1*cos(y[:, 0]) x2 = L2*sin(y[:, 2]) + x1 y2 = -L2*cos(y[:, 2]) + y1 fig = plt.figure() ax = fig.add_subplot(111, autoscale_on=False, xlim=(-2, 2), ylim=(-2, 2)) ax.set_aspect('equal') ax.grid() line, = ax.plot([], [], 'o-', lw=2) time_template = 'time = %.1fs' time_text = ax.text(0.05, 0.9, '', transform=ax.transAxes) def init(): line.set_data([], []) time_text.set_text('') return line, time_text def animate(i): thisx = [0, x1[i], x2[i]] thisy = [0, y1[i], y2[i]] line.set_data(thisx, thisy) time_text.set_text(time_template % (i*dt)) return line, time_text ani = animation.FuncAnimation(fig, animate, range(1, len(y)), interval=dt*1000, blit=True, init_func=init) plt.show() .. _sphx_glr_download_gallery_animation_double_pendulum_sgskip.py: .. only :: html .. container:: sphx-glr-footer :class: sphx-glr-footer-example .. container:: sphx-glr-download sphx-glr-download-python :download:`Download Python source code: double_pendulum_sgskip.py ` .. container:: sphx-glr-download sphx-glr-download-jupyter :download:`Download Jupyter notebook: double_pendulum_sgskip.ipynb ` .. only:: html .. rst-class:: sphx-glr-signature Keywords: matplotlib code example, codex, python plot, pyplot `Gallery generated by Sphinx-Gallery `_