rotarymatrices.h

/* Copyright (C) 2004-2012  Robert Huber
 
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 
 *
 * Contact: martin.o.foerg@googlemail.com
 */
 
#ifndef ROTARYMATRICES_H
#define ROTARYMATRICES_H
 
#include "fmatvec/fmatvec.h"
 
namespace MBSim {
 
  fmatvec::SqrMat3 BasicRotAKIx(double phi);
  fmatvec::SqrMat3 BasicRotAKIy(double phi);
  fmatvec::SqrMat3 BasicRotAKIz(double phi);
 
  /*
   *  \brief Rotate CoSy K (angle phi) to obtain CoSy I
   */
  inline fmatvec::SqrMat3 BasicRotAIKx(double phi) { return BasicRotAKIx(-phi); }
  inline fmatvec::SqrMat3 BasicRotAIKy(double phi) { return BasicRotAKIy(-phi); }
  inline fmatvec::SqrMat3 BasicRotAIKz(double phi) { return BasicRotAKIz(-phi); }
 
  fmatvec::Vec3 AIK2Cardan(const fmatvec::SqrMat3 &AIK);
 
  inline fmatvec::Vec3 AKI2Cardan(const fmatvec::SqrMat3 &AKI) { return AIK2Cardan(AKI.T()); }
 
  fmatvec::Vec3 AIK2RevCardan(const fmatvec::SqrMat3 &AIK);
 
  inline fmatvec::Vec3 AKI2RevCardan(const fmatvec::SqrMat3 &AKI) { return AIK2RevCardan(AKI.T()); }
 
  fmatvec::Vec3 AIK2ParametersZXY(const fmatvec::SqrMat3 &AIK);
 
  fmatvec::Vec3 calcParametersDotZXY(const fmatvec::SqrMat3 &AIK, const fmatvec::Vec3 &KomegaK);
 
  inline fmatvec::SqrMat3 Cardan2AIK(double alpha,double beta,double gamma) { return BasicRotAIKx(alpha)*BasicRotAIKy(beta)*BasicRotAIKz(gamma); }
 
  inline fmatvec::SqrMat3 Euler2AIK(double psi, double theta, double phi) { return BasicRotAIKz(psi)*BasicRotAIKx(theta)*BasicRotAIKz(phi); }
 
  fmatvec::SqrMat3 RotationAboutAxis(const fmatvec::Vec3 &a, double phi);
 
  fmatvec::Vec3 AIK2Phi(const fmatvec::SqrMat3 &AIK);
 
}
 
#endif