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rotation_about_fixed_axis.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
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11  * Lesser General Public License for more details.
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19 
20 #ifndef _ROTATION_ABOUT_FIXED_AXIS_H_
21 #define _ROTATION_ABOUT_FIXED_AXIS_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
27  template<class Arg>
28  class RotationAboutFixedAxis : public Function<fmatvec::RotMat3(Arg)> {
30  private:
31  fmatvec::RotMat3 A;
32  fmatvec::Vec3 a;
33  public:
35  RotationAboutFixedAxis(const fmatvec::Vec3 &a_) : a(a_) { }
36  int getArgSize() const { return 1; }
37  fmatvec::RotMat3 operator()(const Arg &q) {
38  double alpha = ToDouble<Arg>::cast(q);
39  const double cosq=cos(alpha);
40  const double sinq=sin(alpha);
41  const double onemcosq=1-cosq;
42  const double a0a1=a.e(0)*a.e(1);
43  const double a0a2=a.e(0)*a.e(2);
44  const double a1a2=a.e(1)*a.e(2);
45  A.e(0,0) = cosq+onemcosq*a.e(0)*a.e(0);
46  A.e(1,0) = onemcosq*a0a1+a.e(2)*sinq;
47  A.e(2,0) = onemcosq*a0a2-a.e(1)*sinq;
48  A.e(0,1) = onemcosq*a0a1-a.e(2)*sinq;
49  A.e(1,1) = cosq+onemcosq*a.e(1)*a.e(1);
50  A.e(2,1) = onemcosq*a1a2+a.e(0)*sinq;
51  A.e(0,2) = onemcosq*a0a2+a.e(1)*sinq;
52  A.e(1,2) = onemcosq*a1a2-a.e(0)*sinq;
53  A.e(2,2) = cosq+onemcosq*a.e(2)*a.e(2);
54  return A;
55  }
56  typename B::DRetDArg parDer(const Arg &q) { return a; }
57  typename B::DRetDArg parDerDirDer(const Arg &qd, const Arg &q) { return typename B::DRetDArg(1); }
58  typename B::DDRetDDArg parDerParDer(const Arg &arg) { THROW_MBSIMERROR("parDerParDer is not available for given template parameters."); }
59  bool constParDer() const { return true; }
60  const fmatvec::Vec3& getAxisOfRotation() const { return a; }
61  void setAxisOfRotation(const fmatvec::Vec3 &a_) { a = a_; }
62  void initializeUsingXML(xercesc::DOMElement *element) {
63  xercesc::DOMElement *e=MBXMLUtils::E(element)->getFirstElementChildNamed(MBSIM%"axisOfRotation");
64  a=FromMatStr<fmatvec::Vec3>::cast((MBXMLUtils::X()%MBXMLUtils::E(e)->getFirstTextChild()->getData()).c_str());
65  }
66  };
67 
68  template<>
69  inline fmatvec::Vec3 RotationAboutFixedAxis<double>::parDerParDer(const double &arg) { return fmatvec::Vec3(); }
70 
71 }
72 
73 #endif
Definition: rotation_about_fixed_axis.h:28
Definition: utils.h:153
Definition: planar_contour.h:31
Definition: utils.h:181

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