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rotation_about_axes_xz.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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17  * Contact: martin.o.foerg@gmail.com
18  */
19 
20 #ifndef _ROTATION_ABOUT_AXES_XZ_H_
21 #define _ROTATION_ABOUT_AXES_XZ_H_
22 
23 #include "mbsim/functions/function.h"
24 
25 namespace MBSim {
26 
27  template<class Arg>
28  class RotationAboutAxesXZ : public Function<fmatvec::RotMat3(Arg)> {
30  private:
31  fmatvec::RotMat3 A;
32  fmatvec::Mat3xV J, Jd;
33  public:
34  RotationAboutAxesXZ() : J(2), Jd(2) { J.e(0,0) = 1; }
35  int getArgSize() const { return 2; }
36  fmatvec::RotMat3 operator()(const Arg &q) {
37  double a=q.e(0);
38  double b=q.e(1);
39  double cosa = cos(a);
40  double sina = sin(a);
41  double cosb = cos(b);
42  double sinb = sin(b);
43 
44  A.e(0,0) = cosb;
45  A.e(1,0) = cosa*sinb;
46  A.e(2,0) = sina*sinb;
47  A.e(0,1) = -sinb;
48  A.e(1,1) = cosa*cosb;
49  A.e(2,1) = sina*cosb;
50  A.e(1,2) = -sina;
51  A.e(2,2) = cosa;
52 
53  return A;
54  }
55  typename B::DRetDArg parDer(const Arg &q) {
56  double a = q.e(0);
57  J.e(1,1) = -sin(a);
58  J.e(2,1) = cos(a);
59  return J;
60  }
61  typename B::DRetDArg parDerDirDer(const Arg &qd, const Arg &q) {
62  double a = q.e(0);
63  double ad = qd.e(0);
64  Jd.e(1,1) = -cos(a)*ad;
65  Jd.e(2,1) = -sin(a)*ad;
66  return Jd;
67  }
68  };
69 
70 }
71 
72 #endif
Definition: rotation_about_axes_xz.h:28
Definition: planar_contour.h:31

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