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revcardan.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 REVCARDAN_H_
21 #define REVCARDAN_H_
22 
23 #include "mbsimFlexibleBody/utils/angles.h"
24 
25 namespace MBSimFlexibleBody {
26 
32  class RevCardan : public Angles {
33  public:
37  RevCardan();
38 
42  virtual ~RevCardan();
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 
67 }
68 
69 #endif /*REVCARDAN_H_*/
70 
virtual fmatvec::Vec3 computeb(const fmatvec::Vec &q) const
Definition: revcardan.cc:58
virtual fmatvec::Mat computentilq2(const fmatvec::Vec &q) const
Definition: revcardan.cc:310
virtual fmatvec::Mat computenq2(const fmatvec::Vec &q) const
Definition: revcardan.cc:240
virtual fmatvec::Mat computetq2(const fmatvec::Vec &q) const
Definition: revcardan.cc:207
node class for angle parametrisation
Definition: angles.h:35
virtual fmatvec::Vec computentil(const fmatvec::Vec &q) const
Definition: revcardan.cc:73
virtual fmatvec::Mat computebq2(const fmatvec::Vec &q) const
Definition: revcardan.cc:275
virtual fmatvec::SqrMat computenq(const fmatvec::Vec &q) const
Definition: revcardan.cc:119
virtual ~RevCardan()
destructor
Definition: revcardan.cc:28
virtual fmatvec::SqrMat computentilq(const fmatvec::Vec &q) const
Definition: revcardan.cc:165
virtual fmatvec::Vec3 computet(const fmatvec::Vec &q) const
Definition: revcardan.cc:30
virtual fmatvec::Vec computebtil(const fmatvec::Vec &q) const
Definition: revcardan.cc:86
virtual fmatvec::SqrMat computetq(const fmatvec::Vec &q) const
Definition: revcardan.cc:98
virtual fmatvec::Vec3 computen(const fmatvec::Vec &q) const
Definition: revcardan.cc:43
RevCardan()
constructor
Definition: revcardan.cc:26
virtual fmatvec::SqrMat computebtilq(const fmatvec::Vec &q) const
Definition: revcardan.cc:186
reversed kardan parametrisation
Definition: revcardan.h:32
virtual fmatvec::SqrMat computebq(const fmatvec::Vec &q) const
Definition: revcardan.cc:142
virtual fmatvec::Mat computebtilq2(const fmatvec::Vec &q) const
Definition: revcardan.cc:343

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