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#ifndef _DIRECTIONALATOM_H_ |
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#define _DIRECTIONALATOM_H_ |
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#include <string.h> |
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#include <stdlib.h> |
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#include <iostream> |
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#include "StuntDouble.hpp" |
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#include "Atom.hpp" |
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class DirectionalAtom : public Atom { |
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public: |
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DirectionalAtom(int theIndex, SimState* theConfig) : Atom(theIndex, |
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theConfig) |
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{ |
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objType = OT_DATOM; |
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for (int i=0; i < 3; i++) |
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for (int j=0; j < 3; j++) |
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sU[i][j] = 0.0; |
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} |
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virtual ~DirectionalAtom() {} |
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virtual void setCoords(void); |
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void printAmatIndex( void ); |
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void setUnitFrameFromEuler(double phi, double theta, double psi); |
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void setEuler( double phi, double theta, double psi ); |
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void zeroForces(); |
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void getA( double the_A[3][3] ); // get the full rotation matrix |
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void setA( double the_A[3][3] ); |
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void rotateBy( double by_A[3][3] ); // rotate your frame using this matrix |
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void getU( double the_u[3] ); // get the unit vetor |
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void updateU( void ); |
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void getQ( double the_q[4] ); // get the quanternions |
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void setQ( double the_q[4] ); |
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void getJ( double theJ[3] ); |
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void setJ( double theJ[3] ); |
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void getTrq( double theT[3] ); |
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void setTrq( double theT[3] ); |
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void addTrq( double theT[3] ); |
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void setI( double the_I[3][3] ); |
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void getI( double the_I[3][3] ); |
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void lab2Body( double r[3] ); |
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void body2Lab( double r[3] ); |
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double getZangle( ); |
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void setZangle( double zAng ); |
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void addZangle( double zAng ); |
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// Four functions added for derivatives with respect to Euler Angles: |
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// (Needed for minimization routines): |
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void getGrad(double gradient[6] ); |
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void getEulerAngles( double myEuler[3] ); |
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double max(double x, double y); |
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double min(double x, double y); |
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virtual void accept(BaseVisitor* v) {v->visit(this);} |
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private: |
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int dIndex; |
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double sU[3][3]; // the standard unit vectors ( body fixed ) |
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double jx, jy, jz; // the angular momentum vector ( body fixed ) |
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double Ixx, Ixy, Ixz; // the inertial tensor matrix ( body fixed ) |
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double Iyx, Iyy, Iyz; |
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double Izx, Izy, Izz; |
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}; |
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#endif |
