src/primitives/DirectionalAtom.hpp

#ifndef _DIRECTIONALATOM_H_
#define _DIRECTIONALATOM_H_

#include <string.h>
#include <stdlib.h>
#include <iostream>

#include "primitives/StuntDouble.hpp"
#include "primitives/Atom.hpp"

class DirectionalAtom : public Atom {
  
public:
  DirectionalAtom(int theIndex, SimState* theConfig) : Atom(theIndex, 
                                                            theConfig)
  { 
    objType = OT_DATOM;

    for (int i=0; i < 3; i++) 
      for (int j=0; j < 3; j++)
        sU[i][j] = 0.0;

    is_linear = false;
    linear_axis =  -1;
    momIntTol = 1e-6;
  }
  virtual ~DirectionalAtom() {}

  virtual void setCoords(void);

  void printAmatIndex( void );
  
  void setUnitFrameFromEuler(double phi, double theta, double psi);
  void setEuler( double phi, double theta, double psi );

  void zeroForces();

  void getA( double the_A[3][3] ); // get the full rotation matrix
  void setA( double the_A[3][3] );
  void rotateBy( double by_A[3][3] );  // rotate your frame using this matrix

  void getU( double the_u[3] ); // get the unit vetor
  void updateU( void );

  void getQ( double the_q[4] ); // get the quanternions
  void setQ( double the_q[4] );
 
  void getJ( double theJ[3] );
  void setJ( double theJ[3] );

  void getTrq( double theT[3] );
  void addTrq( double theT[3] );

  void setI( double the_I[3][3] );
  void getI( double the_I[3][3] );

  bool isLinear() {return is_linear;}
  int linearAxis() {return linear_axis;}
  
  void lab2Body( double r[3] );
  void body2Lab( double r[3] );

  double getZangle( );
  void setZangle( double zAng );
  void addZangle( double zAng );

  // Four functions added for derivatives with respect to Euler Angles:
  // (Needed for minimization routines):

  void getGrad(double gradient[6] );
  void getEulerAngles( double myEuler[3] );

  double max(double x, double y);
  double min(double x, double y);

  virtual void accept(BaseVisitor* v) {v->visit(this);}
  
private:
  int dIndex;

  double sU[3][3];       // the standard unit vectors    ( body fixed )
  
  double jx, jy, jz;    // the angular momentum vector ( body fixed )
  
  double Ixx, Ixy, Ixz; // the inertial tensor matrix  ( body fixed )
  double Iyx, Iyy, Iyz;
  double Izx, Izy, Izz;

  bool is_linear;
  int linear_axis;
  double momIntTol;

};

#endif
Revision:	1709
Committed:	Thu Nov 4 16:22:03 2004 UTC (19 years, 8 months ago) by gezelter
File size:	2240 byte(s)
Log Message:	isLinear and linearAxis are virtual in StuntDouble, but are implemented by DirectionalAtom and RigidBody In StuntDouble, they should return false and "-1" but there should be logic to figure them out in the other two classes
#	User	Rev	Content
1	gezelter	1490	#ifndef _DIRECTIONALATOM_H_
2			#define _DIRECTIONALATOM_H_
3
4			#include <string.h>
5			#include <stdlib.h>
6			#include <iostream>
7
8	tim	1492	#include "primitives/StuntDouble.hpp"
9			#include "primitives/Atom.hpp"
10	gezelter	1490
11			class DirectionalAtom : public Atom {
12
13			public:
14			DirectionalAtom(int theIndex, SimState* theConfig) : Atom(theIndex,
15			theConfig)
16			{
17			objType = OT_DATOM;
18
19			for (int i=0; i < 3; i++)
20			for (int j=0; j < 3; j++)
21			sU[i][j] = 0.0;
22
23	gezelter	1709	is_linear = false;
24			linear_axis = -1;
25			momIntTol = 1e-6;
26	gezelter	1490	}
27			virtual ~DirectionalAtom() {}
28
29			virtual void setCoords(void);
30
31			void printAmatIndex( void );
32
33			void setUnitFrameFromEuler(double phi, double theta, double psi);
34			void setEuler( double phi, double theta, double psi );
35
36			void zeroForces();
37
38			void getA( double the_A[3][3] ); // get the full rotation matrix
39			void setA( double the_A[3][3] );
40			void rotateBy( double by_A[3][3] ); // rotate your frame using this matrix
41
42			void getU( double the_u[3] ); // get the unit vetor
43			void updateU( void );
44
45			void getQ( double the_q[4] ); // get the quanternions
46			void setQ( double the_q[4] );
47
48			void getJ( double theJ[3] );
49			void setJ( double theJ[3] );
50
51			void getTrq( double theT[3] );
52			void addTrq( double theT[3] );
53
54			void setI( double the_I[3][3] );
55			void getI( double the_I[3][3] );
56	gezelter	1709
57			bool isLinear() {return is_linear;}
58			int linearAxis() {return linear_axis;}
59	gezelter	1490
60			void lab2Body( double r[3] );
61			void body2Lab( double r[3] );
62
63			double getZangle( );
64			void setZangle( double zAng );
65			void addZangle( double zAng );
66
67			// Four functions added for derivatives with respect to Euler Angles:
68			// (Needed for minimization routines):
69
70			void getGrad(double gradient[6] );
71			void getEulerAngles( double myEuler[3] );
72
73			double max(double x, double y);
74			double min(double x, double y);
75
76			virtual void accept(BaseVisitor* v) {v->visit(this);}
77
78			private:
79			int dIndex;
80
81			double sU[3][3]; // the standard unit vectors ( body fixed )
82
83			double jx, jy, jz; // the angular momentum vector ( body fixed )
84
85			double Ixx, Ixy, Ixz; // the inertial tensor matrix ( body fixed )
86			double Iyx, Iyy, Iyz;
87			double Izx, Izy, Izz;
88
89	gezelter	1709	bool is_linear;
90			int linear_axis;
91			double momIntTol;
92
93	gezelter	1490	};
94
95			#endif