726 |
|
/** |
727 |
|
* Returns the inertia tensor of this stuntdouble |
728 |
|
* @return the inertia tensor of this stuntdouble |
729 |
– |
* @see #setI |
729 |
|
*/ |
730 |
|
virtual Mat3x3d getI() = 0; |
732 |
– |
|
733 |
– |
/** |
734 |
– |
* Sets the inertia tensor of this stuntdouble |
735 |
– |
* @param trq new inertia tensor |
736 |
– |
* @see #getI |
737 |
– |
*/ |
738 |
– |
virtual void setI(Mat3x3d& I) = 0; |
731 |
|
|
732 |
|
/** |
733 |
|
* Returns the gradient of this stuntdouble |
778 |
|
void setType(const std::string& name); |
779 |
|
|
780 |
|
/** |
781 |
< |
* Converts a lab fixed vector to a body fixed vector |
782 |
< |
* @v lab fixed vector. On return, it will store body fixed vector |
781 |
> |
* Converts a lab fixed vector to a body fixed vector. |
782 |
> |
* @return body fixed vector |
783 |
> |
* @param v lab fixed vector |
784 |
|
*/ |
785 |
< |
void lab2Body(Vector3d& v); |
785 |
> |
Vector3d lab2Body(const Vector3d& v); |
786 |
|
|
787 |
|
/** |
788 |
< |
* Converts a body fixed vector to a lab fixed vector |
789 |
< |
* @v body fixed vector. On return, it will store lab fixed vector |
788 |
> |
* Converts a body fixed vector to a lab fixed vector. |
789 |
> |
* @return corresponding lab fixed vector |
790 |
> |
* @param v body fixed vector |
791 |
|
*/ |
792 |
< |
void body2Lab(Vector3d& v); |
792 |
> |
Vector3d body2Lab(const Vector3d& v); |
793 |
|
/** |
794 |
|
* <p> |
795 |
|
* The purpose of the Visitor Pattern is to encapsulate an operation that you want to perform on |