21 #ifndef ROTARYMATRICES_H
22 #define ROTARYMATRICES_H
23 #include "fmatvec/fmatvec.h"
24 #include "mbsim/utils/utils.h"
52 AlphaBetaGamma(1)= asin(AIK(0,2));
53 double nenner = cos(AlphaBetaGamma(1));
54 if (fabs(nenner)>1e-10) {
55 AlphaBetaGamma(0) = atan2(-AIK(1,2),AIK(2,2));
56 AlphaBetaGamma(2) = atan2(-AIK(0,1),AIK(0,0));
59 AlphaBetaGamma(2)=atan2(AIK(1,0),AIK(1,1));
61 return AlphaBetaGamma;
75 AlphaBetaGamma(1)= asin(-AIK(2,0));
76 double nenner = cos(AlphaBetaGamma(1));
77 if (fabs(nenner)>1e-10) {
78 AlphaBetaGamma(0) = atan2(AIK(2,1),AIK(2,2));
79 AlphaBetaGamma(2) =
ArcTan(AIK(0,0),AIK(1,0));
82 AlphaBetaGamma(2)=atan2(-AIK(0,1),AIK(1,1));
84 return AlphaBetaGamma;
Vec calcParametersDotZXY(const SqrMat &AIK, const Vec &KomegaK)
kinematic equations to calculate [al_dot; be_dot; ga_dot] from AIK and KomegaK
Definition: rotarymatrices.cc:133
Vec AIK2ParametersZXY(const SqrMat &AIK)
ZXY parametrisation (z -x -y) with parameters (angles) = [al; be; ga] first rotation: z-Axis (ga)...
Definition: rotarymatrices.cc:118
SqrMat Cardan2AIK(double alpha, double beta, double gamma)
Cardan parametrisation (x y z): calculate AIK matrix from angles (alpha, beta, gamma) ...
Definition: rotarymatrices.cc:88
SqrMat BasicRotAKIx(double phi)
Basic Rotations (see Script TM Grundlagenfach)
Definition: rotarymatrices.cc:40
double ArcTan(double x, double y)
calculates planar angle in [0,2] with respect to Cartesian coordinates of: Arc Tangent (y/x) ...
Definition: utils.cc:72
fmatvec::Vector< Row, double > AIK2Cardan(const fmatvec::SquareMatrix< Row, double > &AIK)
Cardan parametrisation (x y z): calculate angles (alpha, beta, gamma) from rotation matrix AKI or AIK...
Definition: rotarymatrices.h:50
fmatvec::Vector< Row, double > AIK2RevCardan(const fmatvec::SquareMatrix< Row, double > &AIK)
reversed Cardan parametrisation (z y x): calculate angles (alpha, beta, gamma) from rotation matrix A...
Definition: rotarymatrices.h:73
SqrMat Euler2AIK(double psi, double theta, double phi)
Euler parametrisation: calculate AIK matrix from angles (psi, theta, phi); psi: Preazession; theta: N...
Definition: rotarymatrices.cc:103