# the double pendulum solved using different formulations

# parameters
end_time = 10
m1 = 0.3
m2 = 0.2
l1 = 0.3
l2 = 0.25
g = 9.8

# initial conditions
theta1_0 = pi/2
theta2_0 = pi

# include the selected formulation
DEFAULT_ARGUMENT_VALUE 1 hamilton
DEFAULT_ARGUMENT_VALUE 2 numerical
INCLUDE double-$1-$2.fee

# output the results vs. time
PRINT t theta1 theta2 theta1_dot theta2_dot \
      l1*sin(theta1)                -l1*cos(theta1) \
      l1*sin(theta1)+l2*sin(theta2) -l1*cos(theta1)-l2*cos(theta2)