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rotation_about_axes_zyx.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
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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
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18  */
19 
20 #ifndef _ROTATION_ABOUT_AXES_ZYX_H_
21 #define _ROTATION_ABOUT_AXES_ZYX_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
27  template<class Arg>
28  class RotationAboutAxesZYX : public Function<fmatvec::RotMat3(Arg)> {
30  private:
31  fmatvec::RotMat3 A;
32  fmatvec::Mat3xV J, Jd;
33  public:
34  RotationAboutAxesZYX() : J(3), Jd(3) { J.e(2,0) = 1; }
35  int getArgSize() const { return 3; }
36  fmatvec::RotMat3 operator()(const Arg &q) {
37  double a=q.e(0);
38  double b=q.e(1);
39  double g=q.e(2);
40  double cosa = cos(a);
41  double sina = sin(a);
42  double cosb = cos(b);
43  double sinb = sin(b);
44  double cosg = cos(g);
45  double sing = sin(g);
46  A.e(0,0) = cosa*cosb;
47  A.e(1,0) = sina*cosb;
48  A.e(2,0) = -sinb;
49  A.e(0,1) = -sina*cosg+cosa*sinb*sing;
50  A.e(1,1) = cosa*cosg+sina*sinb*sing;
51  A.e(2,1) = cosb*sing;
52  A.e(0,2) = sina*sing+cosa*sinb*cosg;
53  A.e(1,2) = -cosa*sing+sina*sinb*cosg;
54  A.e(2,2) = cosb*cosg;
55  return A;
56  }
57  typename B::DRetDArg parDer(const Arg &q) {
58  double a = q.e(0);
59  double b = q.e(1);
60  double cosa = cos(a);
61  double sina = sin(a);
62  double cosb = cos(b);
63  //J.e(0,0) = 0;
64  J.e(0,1) = -sina;
65  J.e(0,2) = cosa*cosb;
66  //J.e(1,0) = 0;
67  J.e(1,1) = cosa;
68  J.e(1,2) = sina*cosb;
69  //J.e(2,0) = 1;
70  //J.e(2,1) = 0;
71  J.e(2,2) = -sin(b);
72  return J;
73  }
74  typename B::DRetDArg parDerDirDer(const Arg &qd, const Arg &q) {
75  double a = q.e(0);
76  double b = q.e(1);
77  double ad = qd.e(0);
78  double bd = qd.e(1);
79  double cosa = cos(a);
80  double sina = sin(a);
81  double cosb = cos(b);
82  double sinb = sin(b);
83  Jd.e(0,1) = -cosa*ad;
84  Jd.e(0,2) = -sina*cosb*ad - cosa*sinb*bd;
85  Jd.e(1,1) = -sina*ad;
86  Jd.e(1,2) = cosa*cosb*ad - sina*sinb*bd;
87  Jd.e(2,2) = -cosb*bd;
88  return Jd;
89  }
90  };
91 
92 }
93 
94 #endif
Definition: rotation_about_axes_zyx.h:28
Definition: planar_contour.h:31

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