20 #ifndef _ROTATION_ABOUT_AXES_XY_H_
21 #define _ROTATION_ABOUT_AXES_XY_H_
23 #include "mbsim/functions/function.h"
32 fmatvec::Mat3xV J, Jd;
35 int getArgSize()
const {
return 2; }
36 fmatvec::RotMat3 operator()(
const Arg &q) {
46 A.e(2,0) = -cosa*sinb;
50 A.e(1,2) = -sina*cosb;
54 typename B::DRetDArg parDer(
const Arg &q) {
60 typename B::DRetDArg parDerDirDer(
const Arg &qd,
const Arg &q) {
63 Jd.e(1,1) = -sin(a)*ad;
64 Jd.e(2,1) = cos(a)*ad;
Definition: planar_contour.h:31
Definition: rotation_about_axes_xy.h:28