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 |