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rotation_about_y_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_Y_AXIS_H_
21 #define _ROTATION_ABOUT_Y_AXIS_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
27  template<class Arg>
28  class RotationAboutYAxis : public Function<fmatvec::RotMat3(Arg)> {
30  private:
31  fmatvec::RotMat3 A;
32  fmatvec::Vec3 a;
33  public:
34  RotationAboutYAxis() { a.e(1) = 1; A.e(1,1) = 1; }
35  int getArgSize() const { return 1; }
36  fmatvec::RotMat3 operator()(const Arg &q) {
37  double alpha = ToDouble<Arg>::cast(q);
38  const double cosq=cos(alpha);
39  const double sinq=sin(alpha);
40  A.e(0,0) = cosq;
41  A.e(2,0) = -sinq;
42  A.e(0,2) = sinq;
43  A.e(2,2) = cosq;
44  return A;
45  }
46  typename B::DRetDArg parDer(const Arg &q) { return a; }
47  typename B::DRetDArg parDerDirDer(const Arg &qd, const Arg &q) { return typename B::DRetDArg(1); }
48  bool constParDer() const { return true; }
49  };
50 
51 }
52 
53 #endif
Definition: rotation_about_y_axis.h:28
Definition: utils.h:153
Definition: planar_contour.h:31

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