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cardan.h
1 /* Copyright (C) 2004-2015 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: thorsten.schindler@mytum.de
18  */
19 
20 #ifndef _CARDAN_H_
21 #define _CARDAN_H_
22 
23 #include "mbsimFlexibleBody/utils/angles.h"
24 
25 namespace MBSimFlexibleBody {
26 
32  class Cardan : public Angles {
33  public:
37  Cardan();
38 
42  virtual ~Cardan();
43 
44  /* INTERFACE OF ROTATION */
45  virtual int getqSize() const { return 3; }
46  /********************************************************/
47 
48  /* INTERFACE OF ANGLES */
49  virtual fmatvec::Vec3 computet(const fmatvec::Vec& q) const;
50  virtual fmatvec::Vec3 computen(const fmatvec::Vec& q) const;
51  virtual fmatvec::Vec3 computeb(const fmatvec::Vec& q) const;
52  virtual fmatvec::Vec computentil(const fmatvec::Vec& q) const;
53  virtual fmatvec::Vec computebtil(const fmatvec::Vec& q) const;
54  virtual fmatvec::SqrMat computetq(const fmatvec::Vec& q) const;
55  virtual fmatvec::SqrMat computenq(const fmatvec::Vec& q) const;
56  virtual fmatvec::SqrMat computebq(const fmatvec::Vec& q) const;
57  virtual fmatvec::SqrMat computentilq(const fmatvec::Vec& q) const;
58  virtual fmatvec::SqrMat computebtilq(const fmatvec::Vec& q) const;
59  virtual fmatvec::Mat computetq2(const fmatvec::Vec& q) const;
60  virtual fmatvec::Mat computenq2(const fmatvec::Vec& q) const;
61  virtual fmatvec::Mat computebq2(const fmatvec::Vec& q) const;
62  virtual fmatvec::Mat computentilq2(const fmatvec::Vec& q) const;
63  virtual fmatvec::Mat computebtilq2(const fmatvec::Vec& q) const;
64  /********************************************************/
65 
66  /* OVERWRITE FUNCTIONS OF ANGLES */
72  virtual fmatvec::Vec computeOmega(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
73 
78  virtual fmatvec::SqrMat computeT(const fmatvec::Vec& q) const;
79  /********************************************************/
80  };
81 
82 }
83 
84 #endif /* _CARDAN_H_ */
85 
virtual fmatvec::Vec computentil(const fmatvec::Vec &q) const
Definition: cardan.cc:76
virtual fmatvec::SqrMat computenq(const fmatvec::Vec &q) const
Definition: cardan.cc:111
node class for angle parametrisation
Definition: angles.h:35
virtual fmatvec::SqrMat computeT(const fmatvec::Vec &q) const
Definition: cardan.cc:308
virtual fmatvec::SqrMat computentilq(const fmatvec::Vec &q) const
Definition: cardan.cc:155
virtual fmatvec::SqrMat computebtilq(const fmatvec::Vec &q) const
Definition: cardan.cc:161
virtual fmatvec::Vec3 computeb(const fmatvec::Vec &q) const
Definition: cardan.cc:63
virtual fmatvec::Mat computebtilq2(const fmatvec::Vec &q) const
Definition: cardan.cc:276
virtual fmatvec::Vec3 computet(const fmatvec::Vec &q) const
Definition: cardan.cc:33
virtual fmatvec::SqrMat computetq(const fmatvec::Vec &q) const
Definition: cardan.cc:88
virtual fmatvec::Mat computetq2(const fmatvec::Vec &q) const
Definition: cardan.cc:167
cardan parametrisation
Definition: cardan.h:32
virtual fmatvec::Mat computebq2(const fmatvec::Vec &q) const
Definition: cardan.cc:237
virtual fmatvec::SqrMat computebq(const fmatvec::Vec &q) const
Definition: cardan.cc:134
Cardan()
constructor
Definition: cardan.cc:29
virtual ~Cardan()
destructor
Definition: cardan.cc:31
virtual fmatvec::Mat computentilq2(const fmatvec::Vec &q) const
Definition: cardan.cc:270
virtual fmatvec::Vec computeOmega(const fmatvec::Vec &q, const fmatvec::Vec &qt) const
Definition: cardan.cc:282
virtual fmatvec::Mat computenq2(const fmatvec::Vec &q) const
Definition: cardan.cc:202
virtual fmatvec::Vec computebtil(const fmatvec::Vec &q) const
Definition: cardan.cc:82
virtual fmatvec::Vec3 computen(const fmatvec::Vec &q) const
Definition: cardan.cc:48

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