mbsim 4.0.0 MBSim Kernel

rotation_about_z_axis.h
1 /* Copyright (C) 2004-2009 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_Z_AXIS_H_
21 #define _ROTATION_ABOUT_Z_AXIS_H_
22
23 #include "mbsim/functions/function.h"
24 #include "mbsim/utils/utils.h"
25
26 namespace MBSim {
27
28 template<class Arg>
29 class RotationAboutZAxis : public Function<fmatvec::RotMat3(Arg)> {
30 using B = fmatvec::Function<fmatvec::RotMat3(Arg)>;
31 private:
32 fmatvec::RotMat3 A;
33 fmatvec::Vec3 a, zero;
34 public:
35 RotationAboutZAxis() { a.e(2) = 1; A.e(2,2) = 1; }
36 int getArgSize() const override { return 1; }
37 fmatvec::RotMat3 operator()(const Arg &q) override {
38 double alpha = ToDouble<Arg>::cast(q);
39 const double cosq=cos(alpha);
40 const double sinq=sin(alpha);
41 A.e(0,0) = cosq;
42 A.e(1,0) = sinq;
43 A.e(0,1) = -sinq;
44 A.e(1,1) = cosq;
45 return A;
46 }
47 typename B::DRetDArg parDer(const Arg &q) override { return a; }
48 typename B::DRetDArg parDerDirDer(const Arg &qd, const Arg &q) override { return zero; }
49 bool constParDer() const override { return true; }
50 };
51
52 }
53
54 #endif
MBSim::ToDouble
Definition: utils.h:61
MBSim::Function
Definition: contact_kinematics.h:32
MBSim::RotationAboutZAxis
Definition: rotation_about_z_axis.h:29
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30