| 97 |  | virtual ~StuntDouble(); | 
| 98 |  |  | 
| 99 |  | /** | 
| 100 | < | * Returns the global index of this stuntdouble. | 
| 100 | > | * Returns the global index of this stuntRealType. | 
| 101 |  | * @return  the global index of this stuntdouble | 
| 102 |  | */ | 
| 103 |  | int getGlobalIndex() { | 
| 105 |  | } | 
| 106 |  |  | 
| 107 |  | /** | 
| 108 | < | * Sets the global index of this stuntdouble. | 
| 108 | > | * Sets the global index of this stuntRealType. | 
| 109 |  | * @param new global index to be set | 
| 110 |  | */ | 
| 111 |  | void setGlobalIndex(int index) { | 
| 483 |  | } | 
| 484 |  |  | 
| 485 |  | /** | 
| 486 | < | * Sets  the previous euler angles of this stuntdouble. | 
| 486 | > | * Sets  the previous euler angles of this stuntRealType. | 
| 487 |  | * @param euler  new euler angles | 
| 488 |  | * @see #getEuler | 
| 489 |  | * @note actual storage data is rotation matrix | 
| 710 |  | * Returns the previous z-angle of this stuntdouble | 
| 711 |  | * @return the z-angle of this stuntdouble | 
| 712 |  | */ | 
| 713 | < | double getPrevZangle() { | 
| 713 | > | RealType getPrevZangle() { | 
| 714 |  | return ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_]; | 
| 715 |  | } | 
| 716 |  |  | 
| 718 |  | * Returns the current z-angle of this stuntdouble | 
| 719 |  | * @return the z-angle of this stuntdouble | 
| 720 |  | */ | 
| 721 | < | double getZangle() { | 
| 721 | > | RealType getZangle() { | 
| 722 |  | return ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_]; | 
| 723 |  | } | 
| 724 |  |  | 
| 727 |  | * @return the z-angle of this stuntdouble | 
| 728 |  | * @param snapshotNo | 
| 729 |  | */ | 
| 730 | < | double getZangle(int snapshotNo) { | 
| 730 | > | RealType getZangle(int snapshotNo) { | 
| 731 |  | return ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_]; | 
| 732 |  | } | 
| 733 |  |  | 
| 736 |  | * @param angle  new z-angle | 
| 737 |  | * @see #getZangle | 
| 738 |  | */ | 
| 739 | < | void setPrevZangle(double angle) { | 
| 739 | > | void setPrevZangle(RealType angle) { | 
| 740 |  | ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] = angle; | 
| 741 |  | } | 
| 742 |  |  | 
| 744 |  | * Sets  the current z-angle of this stuntdouble | 
| 745 |  | * @param angle  new z-angle | 
| 746 |  | */ | 
| 747 | < | void setZangle(double angle) { | 
| 747 | > | void setZangle(RealType angle) { | 
| 748 |  | ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] = angle; | 
| 749 |  | } | 
| 750 |  |  | 
| 754 |  | * @param snapshotNo | 
| 755 |  | * @see #getZangle | 
| 756 |  | */ | 
| 757 | < | void setZangle(double angle, int snapshotNo) { | 
| 757 | > | void setZangle(RealType angle, int snapshotNo) { | 
| 758 |  | ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] = angle; | 
| 759 |  | } | 
| 760 |  |  | 
| 763 |  | * @param angle  new z-angle | 
| 764 |  | * @see #getZangle | 
| 765 |  | */ | 
| 766 | < | void addPrevZangle(double angle) { | 
| 766 | > | void addPrevZangle(RealType angle) { | 
| 767 |  | ((snapshotMan_->getPrevSnapshot())->*storage_).zAngle[localIndex_] += angle; | 
| 768 |  | } | 
| 769 |  |  | 
| 771 |  | * Adds z-angle into the current z-angle of this stuntdouble | 
| 772 |  | * @param angle  new z-angle | 
| 773 |  | */ | 
| 774 | < | void addZangle(double angle) { | 
| 774 | > | void addZangle(RealType angle) { | 
| 775 |  | ((snapshotMan_->getCurrentSnapshot())->*storage_).zAngle[localIndex_] += angle; | 
| 776 |  | } | 
| 777 |  |  | 
| 781 |  | * @param snapshotNo | 
| 782 |  | * @see #getZangle | 
| 783 |  | */ | 
| 784 | < | void addZangle(double angle, int snapshotNo) { | 
| 784 | > | void addZangle(RealType angle, int snapshotNo) { | 
| 785 |  | ((snapshotMan_->getSnapshot(snapshotNo))->*storage_).zAngle[localIndex_] += angle; | 
| 786 |  | } | 
| 787 |  |  | 
| 797 |  | * Returns the gradient of this stuntdouble | 
| 798 |  | * @return the gradient of this stuntdouble | 
| 799 |  | */ | 
| 800 | < | virtual std::vector<double> getGrad() = 0; | 
| 800 | > | virtual std::vector<RealType> getGrad() = 0; | 
| 801 |  |  | 
| 802 |  | /** | 
| 803 |  | * Tests the  if this stuntdouble is a  linear rigidbody | 
| 823 |  | } | 
| 824 |  |  | 
| 825 |  | /** Returns the mass of this stuntdouble */ | 
| 826 | < | double getMass() { | 
| 826 | > | RealType getMass() { | 
| 827 |  | return mass_; | 
| 828 |  | } | 
| 829 |  |  | 
| 831 |  | * Sets the mass of this stuntdoulbe | 
| 832 |  | * @param mass the mass to be set | 
| 833 |  | */ | 
| 834 | < | void setMass(double mass) { | 
| 834 | > | void setMass(RealType mass) { | 
| 835 |  | mass_ = mass; | 
| 836 |  | } | 
| 837 |  |  | 
| 838 |  | /** Returns the name of this stuntdouble */ | 
| 839 |  | virtual std::string getType() = 0; | 
| 840 |  |  | 
| 841 | < | /** Sets the name of this stuntdouble*/ | 
| 841 | > | /** Sets the name of this stuntRealType*/ | 
| 842 |  | virtual void setType(const std::string& name) {} | 
| 843 |  |  | 
| 844 |  | /** | 
| 935 |  | int localIndex_; | 
| 936 |  |  | 
| 937 |  |  | 
| 938 | < | double mass_; | 
| 938 | > | RealType mass_; | 
| 939 |  |  | 
| 940 |  | private: | 
| 941 |  |  |