angles.h

/* Copyright (C) 2004-2015 MBSim Development Team
 *
 * 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: thorsten.schindler@mytum.de
 */
 
#ifndef ANGLES_H_
#define ANGLES_H_
 
#include <mbsim/functions/function.h>
 
namespace MBSimFlexibleBody {
 
  class Angles : public MBSim::Function<fmatvec::RotMat3(fmatvec::VecV, double)> {
    public:
      Angles();
      ~Angles() override;
 
      /* INTERFACE OF ROTATION */
      fmatvec::RotMat3 operator()(const fmatvec::VecV &q, const double &t) override;
      /***************************************************/
 
      /* INTERFACE */
      virtual fmatvec::Vec3 computet(const fmatvec::Vec& q) const = 0;
 
      virtual fmatvec::Vec3 computen(const fmatvec::Vec& q) const = 0;
 
      virtual fmatvec::Vec3 computeb(const fmatvec::Vec& q) const = 0;
 
      virtual fmatvec::Vec computentil(const fmatvec::Vec& q) const = 0;        
 
      virtual fmatvec::Vec computebtil(const fmatvec::Vec& q) const = 0;    
 
      virtual fmatvec::SqrMat computetq(const fmatvec::Vec& q) const = 0;       
 
      virtual fmatvec::SqrMat computenq(const fmatvec::Vec& q) const = 0;       
 
      virtual fmatvec::SqrMat computebq(const fmatvec::Vec& q) const = 0;
 
      virtual fmatvec::SqrMat computentilq(const fmatvec::Vec& q) const = 0;        
 
      virtual fmatvec::SqrMat computebtilq(const fmatvec::Vec& q) const = 0;
 
      virtual fmatvec::Mat computetq2(const fmatvec::Vec& q) const = 0;     
 
      virtual fmatvec::Mat computenq2(const fmatvec::Vec& q) const = 0;     
 
      virtual fmatvec::Mat computebq2(const fmatvec::Vec& q) const = 0;
 
      virtual fmatvec::Mat computentilq2(const fmatvec::Vec& q) const = 0;      
 
      virtual fmatvec::Mat computebtilq2(const fmatvec::Vec& q) const = 0;
      /********************************************************/
 
      /* NODAL FUNCTIONS */
      fmatvec::Vec computett(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;       
 
      fmatvec::Vec computent(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;       
 
      fmatvec::Vec computebt(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
 
      fmatvec::Vec computentilt(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;        
 
      fmatvec::Vec computebtilt(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
 
      fmatvec::SqrMat computetqt(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
 
      fmatvec::SqrMat computenqt(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
 
      fmatvec::SqrMat computebqt(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
 
      fmatvec::SqrMat computentilqt(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
 
      fmatvec::SqrMat computebtilqt(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
 
      virtual fmatvec::Vec computeOmega(const fmatvec::Vec& q,const fmatvec::Vec& qt) const;
 
      virtual fmatvec::SqrMat computeT(const fmatvec::Vec& q) const; // JacobianOfRotation = G
      /********************************************************/
  };
 
}
 
#endif /*ANGLES_H_*/