1.31 Velocity Transformation

gistfile1.scm

;; Just use the transformation from the example then pull out the velocity from the tuple.
(define (velocity-transform coordinate-transform)
  (compose (lambda (tuple) (velocity tuple)) (F->C coordinate-transform)))

;; ;; Or explicitly using Gamma-bar this is:
;; (define (velocity-transform coordinate-transform)
;;   (define (f-bar q-prime)
;;     (define q (compose coordinate-transform (Gamma q-prime)))
;;     (Gamma q))
;;   (compose (lambda (x) (velocity x)) (Gamma-bar f-bar))) 

(show-expression
 ((velocity-transform p->r) 
  (->local 't (up 'r 'theta) (up 'rdot 'thetadot))))