| 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 |
