<commit_before>#!/usr/bin/env python

import numpy as np
import numpy.linalg
import scipy.linalg
import sympy as sm
import sympy.physics.mechanics as me

from .cython_code import CythonMatrixGenerator

# Required to replace current code.
# TODO : Support specifieds!
# TODO : Create Generator class for lambdify.
# TODO : Create Generator class for Theano.

# Enhancements
# TODO : Support creating a function for the Jacobian of the rhs.
# TODO : Support functions of time in the ODEs.
# TODO : Create Generator class for Octave.
# TODO : Support output equations.


class FullRHSMixin(object):

    def create_rhs_function(self):
        """Returns a function in the form expected by scipy.integrate.odeint
        that computes the derivatives of the states."""

        def rhs(x, t, p):

            q = x[:self.num_coordinates]
            u = x[self.num_coordinates:]

            xdot = self.eval_arrays(q, u, p)

            return xdot

        return rhs


class FullMassMatrixMixin(object):

    def create_rhs_function(self):

        def rhs(x, t, p):

            q = x[:self.num_coordinates]
            u = x[self.num_coordinates:]

            M, F = self.eval_arrays(q, u, p)

            xdot = self.solve_linear_system(M, F)

            return xdot

        return rhs


class MinMassMatrixMixin(object):

    def create_rhs_function(self):

        xdot = np.empty(self.num_states, dtype=float)

        def rhs(x, t, p):

            q = x[:self.num_coordinates]
            u = x[self.num_coordinates:]
            M, F, qdot = self.eval_arrays(q, u, p)
            if F.shape is tuple() or F.shape[0]:
                udot = F / M
            else:
                udot = self.solve_linear_system(M, F)
            xdot[:self.num_coordinates] = qdot
            xdot[self.num_coordinates:] = udot

            return xdot

        return rhs


class ODEFunctionGenerator(object):

    @staticmethod
    def _deduce_system_type(**kwargs):

        if kwargs.pop('coordinate_derivatives') is not None:
            system_type = 'min mass matrix'
        elif kwargs.pop('mass_matrix') is not None:
            system_type = 'full mass matrix'
        else:
            system_type = 'full rhs'

        return system_type

    def __new__(cls,
                right_hand_side,
                coordinates,<commit_msg>Simplified check for singleton speeds vectors.<commit_after>#!/usr/bin/env python

import numpy as np
import numpy.linalg
import scipy.linalg
import sympy as sm
import sympy.physics.mechanics as me

from .cython_code import CythonMatrixGenerator

# Required to replace current code.
# TODO : Support specifieds!
# TODO : Create Generator class for Theano.

# Enhancements
# TODO : Support creating a function for the Jacobian of the rhs.
# TODO : Support functions of time in the ODEs.
# TODO : Create Generator class for Octave.
# TODO : Support output equations.


class FullRHSMixin(object):

    def create_rhs_function(self):
        """Returns a function in the form expected by scipy.integrate.odeint
        that computes the derivatives of the states."""

        def rhs(x, t, p):

            q = x[:self.num_coordinates]
            u = x[self.num_coordinates:]

            xdot = self.eval_arrays(q, u, p)

            return xdot

        return rhs


class FullMassMatrixMixin(object):

    def create_rhs_function(self):

        def rhs(x, t, p):

            q = x[:self.num_coordinates]
            u = x[self.num_coordinates:]

            M, F = self.eval_arrays(q, u, p)

            xdot = self.solve_linear_system(M, F)

            return xdot

        return rhs


class MinMassMatrixMixin(object):

    def create_rhs_function(self):

        xdot = np.empty(self.num_states, dtype=float)

        def rhs(x, t, p):

            q = x[:self.num_coordinates]
            u = x[self.num_coordinates:]
            M, F, qdot = self.eval_arrays(q, u, p)
            if self.num_speeds == 1:
                udot = F / M
            else:
                udot = self.solve_linear_system(M, F)
            xdot[:self.num_coordinates] = qdot
            xdot[self.num_coordinates:] = udot

            return xdot

        return rhs


class ODEFunctionGenerator(object):

    @staticmethod
    def _deduce_system_type(**kwargs):

        if kwargs.pop('coordinate_derivatives') is not None:
            system_type = 'min mass matrix'
        elif kwargs.pop('mass_matrix') is not None:
            system_type = 'full mass matrix'
        else:
            system_type = 'full rhs'

        return system_type

    def __new__(cls,
                right_hand_side,
                coordinates,
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