| 55 |  |  | 
| 56 |  | pot_ = p; | 
| 57 |  | force_ = frc * scaleFactor_; | 
| 58 | < | restInfo_[rtDisplacement] = std::make_pair(r,p); | 
| 58 | > | if (printRest_) restInfo_[rtDisplacement] = std::make_pair(r,p); | 
| 59 |  | } | 
| 60 |  | } | 
| 61 |  |  | 
| 87 |  | p = kTwist_ * (1.0 - cos(dTwist) ); | 
| 88 |  | pot_ += p; | 
| 89 |  | tBody -= dVdtwist * V3Z; | 
| 90 | < | restInfo_[rtTwist] = std::make_pair(twistAngle, p); | 
| 90 | > | if (printRest_) restInfo_[rtTwist] = std::make_pair(twistAngle, p); | 
| 91 |  | } | 
| 92 |  |  | 
| 93 |  | if (restType_ & rtSwingX){ | 
| 96 |  | p = 0.25 * kSwingX_ * (1.0 - cos(2.0 * dSwingX)); | 
| 97 |  | pot_ += p; | 
| 98 |  | tBody -= dVdswingX * V3X; | 
| 99 | < | restInfo_[rtSwingX] = std::make_pair(swingX, p); | 
| 99 | > | if (printRest_) restInfo_[rtSwingX] = std::make_pair(swingX, p); | 
| 100 |  | } | 
| 101 |  |  | 
| 102 |  | if (restType_ & rtSwingY){ | 
| 105 |  | p = 0.25 * kSwingY_ * (1.0 - cos(2.0 * dSwingY)); | 
| 106 |  | pot_ += p; | 
| 107 |  | tBody -= dVdswingY * V3Y; | 
| 108 | < | restInfo_[rtSwingY] = std::make_pair(swingY, p); | 
| 108 | > | if (printRest_) restInfo_[rtSwingY] = std::make_pair(swingY, p); | 
| 109 |  | } | 
| 110 |  |  | 
| 111 |  | Vector3d tLab = A.transpose() * tBody; |