20 #ifndef _ROTATION_ABOUT_AXES_ZXZ_MAPPING_H_
21 #define _ROTATION_ABOUT_AXES_ZXZ_MAPPING_H_
23 #include "mbsim/functions/function.h"
33 int getArgSize()
const {
return 3; }
34 fmatvec::MatV operator()(
const Arg &q) {
36 double theta = q.e(1);
37 double cos_theta = cos(theta);
38 double sin_theta = sin(theta);
39 double cos_psi = cos(psi);
40 double sin_psi = sin(psi);
41 double tan_theta = sin_theta/cos_theta;
43 T.e(0,0) = -sin_psi/tan_theta;
44 T.e(0,1) = cos_psi/tan_theta;
47 T.e(2,0) = sin_psi/sin_theta;
48 T.e(2,1) = -cos_psi/sin_theta;
Definition: rotation_about_axes_zxz_mapping.h:28
Definition: planar_contour.h:31