def _ode(self, s, t, a, m, l, M, b):

        # cdef double g, c3, s3
        s3 = np.sin(s[3])
        c3 = np.cos(s[3])
        g = self.ACCEL_G
        ds = np.zeros(4)
        ds[0] = s[1]
        ds[1] = (2 * m * l * s[2] ** 2 * s3 + 3 * m * g * s3 * c3 + 4 * a - 4 * b * s[1])\
            / (4 * (M + m) - 3 * m * c3 ** 2)
        ds[2] = (-3 * m * l * s[2] ** 2 * s3 * c3 - 6 * (M + m) * g * s3 - 6 * (a - b * s[1]) * c3)\
            / (4 * l * (m + M) - 3 * m * l * c3 ** 2)
        ds[3] = s[2]
        return ds
[x, dx, dtheta, theta]
dataset/ETHPy150Open rlpy/rlpy/rlpy/Domains/FiniteTrackCartPole.py/FiniteCartPoleSwingUpFriction._ode