20 #ifndef _ROTATION_ABOUT_AXES_XYZ_MAPPING_H_
21 #define _ROTATION_ABOUT_AXES_XYZ_MAPPING_H_
23 #include "mbsim/functions/function.h"
33 int getArgSize()
const {
return 3; }
34 fmatvec::MatV operator()(
const Arg &q) {
35 double alpha = q.e(0);
37 double cos_beta = cos(beta);
38 double sin_beta = sin(beta);
39 double cos_alpha = cos(alpha);
40 double sin_alpha = sin(alpha);
41 double tan_beta = sin_beta/cos_beta;
42 T.e(0,1) = tan_beta*sin_alpha;
43 T.e(0,2) = -tan_beta*cos_alpha;
46 T.e(2,1) = -sin_alpha/cos_beta;
47 T.e(2,2) = cos_alpha/cos_beta;
Definition: rotation_about_axes_xyz_mapping.h:28
Definition: planar_contour.h:31