mbsim 4.0.0 MBSim Kernel

rotation_about_three_axes.h
1 /* Copyright (C) 2004-2019 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@gmail.com
18 */
19
20 #ifndef _ROTATION_ABOUT_THREE_AXES_H_
21 #define _ROTATION_ABOUT_THREE_AXES_H_
22
23 #include "mbsim/functions/function.h"
24
25 namespace MBSim {
26
30 template<class Arg>
31 class RotationAboutThreeAxes : public Function<fmatvec::RotMat3(Arg)> {
32 protected:
33 fmatvec::RotMat3 A;
34 fmatvec::Mat3xV J, Jd;
35 public:
36 RotationAboutThreeAxes() : J(3), Jd(3) { }
37 int getArgSize() const override { return 3; }
38 virtual Function<fmatvec::MatV(Arg)>* getMappingFunction() const { return nullptr; }
39 virtual Function<fmatvec::MatV(Arg)>* getTransformedMappingFunction() const { return nullptr; }
40 };
41
42 }
43
44 #endif
MBSim::RotationAboutThreeAxes
rotation class for rotation about three axes
Definition: rotation_about_three_axes.h:31
MBSim::Function
Definition: contact_kinematics.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30