| 60 |
|
* @return the inertia tensor of this stuntdouble |
| 61 |
|
*/ |
| 62 |
|
virtual Mat3x3d getI(); |
| 63 |
< |
|
| 63 |
> |
|
| 64 |
|
/** |
| 65 |
|
* Sets the previous rotation matrix of this stuntdouble |
| 66 |
|
* @param a new rotation matrix |
| 67 |
|
*/ |
| 68 |
|
virtual void setPrevA(const RotMat3x3d& a); |
| 69 |
< |
|
| 69 |
> |
|
| 70 |
|
/** |
| 71 |
|
* Sets the current rotation matrix of this stuntdouble |
| 72 |
|
* @param a new rotation matrix |
| 73 |
|
*/ |
| 74 |
|
virtual void setA(const RotMat3x3d& a); |
| 75 |
< |
|
| 75 |
> |
|
| 76 |
|
/** |
| 77 |
|
* Sets the rotation matrix of this stuntdouble in specified snapshot |
| 78 |
|
* @param a rotation matrix to be set |
| 80 |
|
* @see #getA |
| 81 |
|
*/ |
| 82 |
|
virtual void setA(const RotMat3x3d& a, int snapshotNo); |
| 83 |
< |
|
| 83 |
> |
|
| 84 |
|
/** |
| 85 |
|
* Left multiple rotation matrix by another rotation matrix |
| 86 |
|
* @param m a rotation matrix |
| 87 |
|
*/ |
| 88 |
|
void rotateBy(const RotMat3x3d& m); |
| 89 |
< |
|
| 90 |
< |
|
| 89 |
> |
|
| 90 |
|
/** |
| 91 |
|
* Returns the gradient of this stuntdouble |
| 92 |
|
* @return the gradient of this stuntdouble |
| 93 |
|
*/ |
| 94 |
|
virtual std::vector<RealType> getGrad(); |
| 95 |
< |
|
| 95 |
> |
|
| 96 |
|
virtual void accept(BaseVisitor* v); |
| 97 |
< |
|
| 97 |
> |
|
| 98 |
|
protected: |
| 99 |
< |
RotMat3x3d electroBodyFrame_; /**< body fixed standard eletrostatic frame */ |
| 100 |
< |
}; |
| 102 |
< |
|
| 99 |
> |
RotMat3x3d electroBodyFrame_; // body fixed standard eletrostatic frame |
| 100 |
> |
}; |
| 101 |
|
}//namepace oopse |
| 104 |
– |
|
| 102 |
|
#endif //PRIMITIVES_DIRECTIONALATOM_HPP |
