20 #ifndef _ROTATION_ABOUT_AXES_XYZ_TRANSFORMED_MAPPING_H_
21 #define _ROTATION_ABOUT_AXES_XYZ_TRANSFORMED_MAPPING_H_
23 #include "mbsim/functions/function.h"
33 int getArgSize()
const {
return 3; }
34 fmatvec::MatV operator()(
const Arg &q) {
36 double gamma = q.e(2);
37 double cos_beta = cos(beta);
38 double sin_beta = sin(beta);
39 double cos_gamma = cos(gamma);
40 double sin_gamma = sin(gamma);
41 double tan_beta = sin_beta/cos_beta;
42 T.e(0,0) = cos_gamma/cos_beta;
43 T.e(0,1) = -sin_gamma/cos_beta;
46 T.e(2,0) = -cos_gamma*tan_beta;
47 T.e(2,1) = sin_gamma*tan_beta;
Definition: planar_contour.h:31