Untitled http://localhost:8888/nbconvert/html/Classes/ho...

In [32]: import numpy as np

import sympy as sp
from sympy import *
from sympy.matrices import Matrix
from sympy import sqrt
a =sp.symbols('a')
P1 =sp.symbols('P1')
P2 =sp.symbols('P2')
Q1 =sp.symbols('Q1')
Q2 =sp.symbols('Q2')

In [42]: M=sp.Matrix([[sqrt(2*P1)*cos(Q1)/a, 0, sin(Q1)/(a*sqrt(2*P1)),

1/a],
[-sqrt(2*P1)*sin(Q1)/a, 1/a, cos(Q1)/(a*sqrt(2*P1)), 0],
[-a*sqrt(2*P1)*sin(Q1)/2, -a/2, a*cos(Q1)/(2*sqrt(2*P1)), 0],
[-a*sqrt(2*P1)*cos(Q1)/2, 0, -a*sin(Q1)/(2*sqrt(2*P1)), a/2]])

In [43]: MT=transpose(M)

In [44]: J=sp.Matrix([[0,0,1,0],[0,0,0,1],[-1,0,0,0],[0,-1,0,0]])

In [45]: MT*J*M

Out[45]: Matrix([
[ 0, 0, sin(Q1)**2 + cos(Q1)**2, 0],
[ 0, 0, 0, 1],
[-sin(Q1)**2 - cos(Q1)**2, 0, 0, 0],
[ 0, -1, 0, 0]])

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