36 |
|
static double* getMuArray( void ) { return mu; } |
37 |
|
static double* getUlArray( void ) { return ul; } |
38 |
|
|
39 |
+ |
void getPos( double theP[3] ); |
40 |
+ |
void setPos( double theP[3] ); |
41 |
+ |
|
42 |
|
double getX() const {return pos[offsetX];} |
43 |
|
double getY() const {return pos[offsetY];} |
44 |
|
double getZ() const {return pos[offsetZ];} |
46 |
|
void setY(double y) {pos[offsetY] = y;} |
47 |
|
void setZ(double z) {pos[offsetZ] = z;} |
48 |
|
|
49 |
+ |
void getVel( double theV[3] ); |
50 |
+ |
void setVel( double theV[3] ); |
51 |
+ |
|
52 |
|
double get_vx() const {return vel[offsetX];} |
53 |
|
double get_vy() const {return vel[offsetY];} |
54 |
|
double get_vz() const {return vel[offsetZ];} |
56 |
|
void set_vy(double vy) {vel[offsetY] = vy;} |
57 |
|
void set_vz(double vz) {vel[offsetZ] = vz;} |
58 |
|
|
59 |
+ |
|
60 |
+ |
void getFrc( double theF[3] ); |
61 |
+ |
void addFrc( double theF[3] ); |
62 |
+ |
|
63 |
|
double getFx() const {return frc[offsetX];} |
64 |
|
double getFy() const {return frc[offsetY];} |
65 |
|
double getFz() const {return frc[offsetZ];} |
171 |
|
void setSSD( int value) { ssdIdentity = value; } |
172 |
|
int isSSD(void) {return ssdIdentity; } |
173 |
|
|
164 |
– |
void setA( double the_A[3][3] ); |
165 |
– |
|
166 |
– |
void setI( double the_I[3][3] ); |
167 |
– |
|
168 |
– |
void setQ( double the_q[4] ); |
174 |
|
|
175 |
|
void setEuler( double phi, double theta, double psi ); |
176 |
+ |
|
177 |
+ |
double getSUx( void ) { return sux; } |
178 |
+ |
double getSUy( void ) { return suy; } |
179 |
+ |
double getSUz( void ) { return suz; } |
180 |
|
|
181 |
|
void setSUx( double the_sux ) { sux = the_sux; } |
182 |
|
void setSUy( double the_suy ) { suy = the_suy; } |
183 |
|
void setSUz( double the_suz ) { suz = the_suz; } |
184 |
|
|
176 |
– |
void setJx( double the_jx ) { jx = the_jx; } |
177 |
– |
void setJy( double the_jy ) { jy = the_jy; } |
178 |
– |
void setJz( double the_jz ) { jz = the_jz; } |
179 |
– |
|
180 |
– |
void addTx( double the_tx ) { trq[offsetX] += the_tx;} |
181 |
– |
void addTy( double the_ty ) { trq[offsetY] += the_ty;} |
182 |
– |
void addTz( double the_tz ) { trq[offsetZ] += the_tz;} |
183 |
– |
|
185 |
|
void zeroForces() { |
186 |
|
frc[offsetX] = 0.0; |
187 |
|
frc[offsetY] = 0.0; |
193 |
|
} |
194 |
|
|
195 |
|
void getA( double the_A[3][3] ); // get the full rotation matrix |
196 |
+ |
void setA( double the_A[3][3] ); |
197 |
|
|
196 |
– |
double getSUx( void ) { return sux; } |
197 |
– |
double getSUy( void ) { return suy; } |
198 |
– |
double getSUz( void ) { return suz; } |
199 |
– |
|
198 |
|
void getU( double the_u[3] ); // get the unit vetor |
199 |
+ |
void updateU( void ); |
200 |
+ |
|
201 |
|
void getQ( double the_q[4] ); // get the quanternions |
202 |
+ |
void setQ( double the_q[4] ); |
203 |
|
|
204 |
+ |
void getJ( double theJ[3] ); |
205 |
+ |
void setJ( double theJ[3] ); |
206 |
+ |
|
207 |
|
double getJx( void ) { return jx; } |
208 |
|
double getJy( void ) { return jy; } |
209 |
|
double getJz( void ) { return jz; } |
210 |
|
|
211 |
+ |
void setJx( double the_jx ) { jx = the_jx; } |
212 |
+ |
void setJy( double the_jy ) { jy = the_jy; } |
213 |
+ |
void setJz( double the_jz ) { jz = the_jz; } |
214 |
+ |
|
215 |
+ |
void getTrq( double theT[3] ); |
216 |
+ |
void addTrq( double theT[3] ); |
217 |
+ |
|
218 |
|
double getTx( void ) { return trq[offsetX];} |
219 |
|
double getTy( void ) { return trq[offsetY]; } |
220 |
|
double getTz( void ) { return trq[offsetZ]; } |
221 |
|
|
222 |
+ |
void addTx( double the_tx ) { trq[offsetX] += the_tx;} |
223 |
+ |
void addTy( double the_ty ) { trq[offsetY] += the_ty;} |
224 |
+ |
void addTz( double the_tz ) { trq[offsetZ] += the_tz;} |
225 |
+ |
|
226 |
+ |
void setI( double the_I[3][3] ); |
227 |
+ |
void getI( double the_I[3][3] ); |
228 |
+ |
|
229 |
|
double getIxx( void ) { return Ixx; } |
230 |
|
double getIxy( void ) { return Ixy; } |
231 |
|
double getIxz( void ) { return Ixz; } |
237 |
|
double getIzx( void ) { return Izx; } |
238 |
|
double getIzy( void ) { return Izy; } |
239 |
|
double getIzz( void ) { return Izz; } |
240 |
+ |
|
241 |
|
|
242 |
|
double getMu( void ) { return mu[index]; } |
243 |
|
void setMu( double the_mu ) { mu[index] = the_mu; } |
244 |
|
|
245 |
|
void lab2Body( double r[3] ); |
246 |
|
void body2Lab( double r[3] ); |
228 |
– |
void updateU( void ); |
247 |
|
|
248 |
+ |
|
249 |
|
private: |
250 |
|
int dIndex; |
251 |
|
|