| 53 |
|
*/ |
| 54 |
|
virtual void setI(Mat3x3d& I); |
| 55 |
|
|
| 56 |
+ |
/** |
| 57 |
+ |
* Sets the previous rotation matrix of this stuntdouble |
| 58 |
+ |
* @param a new rotation matrix |
| 59 |
+ |
*/ |
| 60 |
+ |
virtual void setPrevA(const RotMat3x3d& a); |
| 61 |
+ |
|
| 62 |
+ |
/** |
| 63 |
+ |
* Sets the current rotation matrix of this stuntdouble |
| 64 |
+ |
* @param a new rotation matrix |
| 65 |
+ |
*/ |
| 66 |
+ |
virtual void setA(const RotMat3x3d& a); |
| 67 |
+ |
|
| 68 |
+ |
/** |
| 69 |
+ |
* Sets the rotation matrix of this stuntdouble in specified snapshot |
| 70 |
+ |
* @param a rotation matrix to be set |
| 71 |
+ |
* @param snapshotNo |
| 72 |
+ |
* @see #getA |
| 73 |
+ |
*/ |
| 74 |
+ |
virtual void setA(const RotMat3x3d& a, int snapshotNo); |
| 75 |
+ |
|
| 76 |
+ |
/** Sets the internal unit frame of this stuntdouble by three euler angles */ |
| 77 |
+ |
void setUnitFrameFromEuler(double phi, double theta, double psi); |
| 78 |
+ |
|
| 79 |
|
/** |
| 80 |
|
* Returns the gradient of this stuntdouble |
| 81 |
< |
* @return the inertia tensor of this stuntdouble |
| 59 |
< |
* @see #setI |
| 81 |
> |
* @return the gradient of this stuntdouble |
| 82 |
|
*/ |
| 83 |
|
virtual std::vector<double> getGrad(); |
| 84 |
|
|
| 85 |
|
virtual void accept(BaseVisitor* v); |
| 86 |
|
|
| 87 |
|
protected: |
| 88 |
< |
Mat3x3d inertiaTensor_; |
| 88 |
> |
Mat3x3d inertiaTensor_; /**< inertial tensor */ |
| 89 |
> |
RotMat3x3d sU_; /**< body fixed standard unit vector */ |
| 90 |
|
}; |
| 91 |
|
|
| 92 |
|
}//namepace oopse |
