#include <reffrm.h>

Inheritance diagram for ReferenceFrame:

Collaboration diagram for ReferenceFrame:

Public Member Functions
	ReferenceFrame (void)

	ReferenceFrame (unsigned int uLabel, const Vec3 &xIn, const Mat3x3 &RIn, const Vec3 &vIn, const Vec3 &wIn, const OrientationDescription &ood)

	ReferenceFrame (const RigidBodyKinematics *pRBK)

	~ReferenceFrame (void)

const Vec3 &	GetX (void) const

const Mat3x3 &	GetR (void) const

const Vec3 &	GetV (void) const

const Vec3 &	GetW (void) const

const Vec3 &	GetXPP (void) const

const Vec3 &	GetWP (void) const

ReferenceFrame &	operator= (const ReferenceFrame &rf)

std::ostream &	Output (std::ostream &out) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from RigidBodyKinematics
virtual	~RigidBodyKinematics (void)

virtual void	Update (void)

Private Attributes
Vec3	x

Mat3x3	R

Vec3	v

Vec3	w

OrientationDescription	od

Additional Inherited Members
Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Detailed Description

Definition at line 46 of file reffrm.h.

Constructor & Destructor Documentation

ReferenceFrame::ReferenceFrame ( void )

Definition at line 41 of file reffrm.cc.

References NO_OP.

 : WithLabel(0),
 x(::mb_zero<Vec3>()),
 R(::mb_deye<Mat3x3>(1.)),
 v(::mb_zero<Vec3>()),
 w(::mb_zero<Vec3>()),
 od(UNKNOWN_ORIENTATION_DESCRIPTION)
 {
         NO_OP;
 }

ReferenceFrame::ReferenceFrame	(	unsigned int	uLabel,
		const Vec3 &	xIn,
		const Mat3x3 &	RIn,
		const Vec3 &	vIn,
		const Vec3 &	wIn,
		const OrientationDescription &	ood
	)

Definition at line 52 of file reffrm.cc.

References ASSERT, IsSame(), Mat3x3::MulTM(), and R.

 : WithLabel(uLabel), x(xIn), R(RIn), v(vIn), w(wIn), od(ood)
 {
         ASSERT(Mat3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.).IsSame(R.MulTM(R), 1e-12));
 }

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ReferenceFrame::ReferenceFrame ( const RigidBodyKinematics * pRBK )

Definition at line 61 of file reffrm.cc.

References ASSERT, Eye3, Mat3x3::IsSame(), Mat3x3::MulTM(), and R.

 : WithLabel(0),
 x(pRBK->GetX()), R(pRBK->GetR()),
 v(pRBK->GetV()), w(pRBK->GetW()),
 od(EULER_123)
 {
         ASSERT(Eye3.IsSame(R.MulTM(R), 1e-12));
 }

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ReferenceFrame::~ReferenceFrame ( void )

Definition at line 70 of file reffrm.cc.

References NO_OP.

                                     { 
         NO_OP;
 }

Member Function Documentation

const Mat3x3 & ReferenceFrame::GetR ( void ) const

virtual

Implements RigidBodyKinematics.

Definition at line 81 of file reffrm.cc.

References R.

Referenced by MBDynParser::GetMatAbs(), MBDynParser::GetMatRel(), MBDynParser::GetOmeAbs(), MBDynParser::GetOmeRel(), MBDynParser::GetPosAbs(), MBDynParser::GetPosRel(), MBDynParser::GetRotAbs(), MBDynParser::GetRotRel(), MBDynParser::GetVecAbs(), MBDynParser::GetVecRel(), MBDynParser::GetVelAbs(), MBDynParser::GetVelRel(), and MBDynParser::Reference_int().

 {
         return R;
 }

const Vec3 & ReferenceFrame::GetV ( void ) const

virtual

Implements RigidBodyKinematics.

Definition at line 87 of file reffrm.cc.

References v.

Referenced by MBDynParser::GetVelAbs(), MBDynParser::GetVelRel(), and MBDynParser::Reference_int().

 {
         return v;
 }

const Vec3 & ReferenceFrame::GetW ( void ) const

virtual

Implements RigidBodyKinematics.

Definition at line 93 of file reffrm.cc.

References w.

Referenced by MBDynParser::GetOmeAbs(), MBDynParser::GetOmeRel(), MBDynParser::GetVelAbs(), MBDynParser::GetVelRel(), and MBDynParser::Reference_int().

 {
         return w;
 }

const Vec3 & ReferenceFrame::GetWP ( void ) const

virtual

Implements RigidBodyKinematics.

Definition at line 105 of file reffrm.cc.

References MBDYN_EXCEPT_ARGS.

 {
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
 }

const Vec3 & ReferenceFrame::GetX ( void ) const

virtual

Implements RigidBodyKinematics.

Definition at line 75 of file reffrm.cc.

References x.

Referenced by MBDynParser::GetPosAbs(), MBDynParser::GetPosRel(), MBDynParser::GetVelAbs(), MBDynParser::GetVelRel(), and MBDynParser::Reference_int().

 {
         return x; 
 }

const Vec3 & ReferenceFrame::GetXPP ( void ) const

virtual

Implements RigidBodyKinematics.

Definition at line 99 of file reffrm.cc.

References MBDYN_EXCEPT_ARGS.

 {
         throw ErrGeneric(MBDYN_EXCEPT_ARGS);
 }

ReferenceFrame & ReferenceFrame::operator= ( const ReferenceFrame & rf )

Definition at line 111 of file reffrm.cc.

References WithLabel::GetLabel(), od, WithLabel::PutLabel(), R, v, w, and x.

 {
         PutLabel(rf.GetLabel());
         x = rf.x;
         R = rf.R;
         v = rf.v;
         w = rf.w;
         od = rf.od;
         return *this;
 }

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std::ostream & ReferenceFrame::Output ( std::ostream & out ) const

Definition at line 123 of file reffrm.cc.

References dRaDegr, EULER_123, EULER_313, EULER_321, WithLabel::GetLabel(), MatR2EulerAngles123(), MatR2EulerAngles313(), MatR2EulerAngles321(), MBDYN_EXCEPT_ARGS, od, ORIENTATION_MATRIX, ORIENTATION_VECTOR, R, v, RotManip::VecRot(), w, and x.

 {
         out 
                 << std::setw(8) << GetLabel() << " "
                 << x << " ";
 
         switch (od) {
         case EULER_123:
                 out << MatR2EulerAngles123(R)*dRaDegr;
                 break;
 
         case EULER_313:
                 out << MatR2EulerAngles313(R)*dRaDegr;
                 break;
 
         case EULER_321:
                 out << MatR2EulerAngles321(R)*dRaDegr;
                 break;
 
         case ORIENTATION_VECTOR:
                 out << RotManip::VecRot(R);
                 break;
 
         case ORIENTATION_MATRIX:
                 out << R;
                 break;
 
         default:
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 
         return out << " "
                 << v << " " << w << " " << std::endl;
 }