matvec6.cc File Reference

#include "mbconfig.h"
#include <matvec6.h>

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Functions
Vec6	operator+ (const Vec6 &v)
Vec6	operator- (const Vec6 &v)
std::ostream &	operator<< (std::ostream &out, const Vec6 &v)
std::ostream &	Write (std::ostream &out, const Vec6 &v, const char *sFill)
std::ostream &	operator<< (std::ostream &out, const Mat6x6 &m)
std::ostream &	Write (std::ostream &out, const Mat6x6 &m, const char *sFill, const char *sFill2)
Vec6	MultRV (const Vec6 &v, const Mat3x3 &R)
Mat6x6	MultRM (const Mat6x6 &m, const Mat3x3 &R)
Mat6x6	MultMRt (const Mat6x6 &m, const Mat3x3 &R)
Mat6x6	MultRMRt (const Mat6x6 &m, const Mat3x3 &R)
Mat6x6	MultRMRt (const Mat6x6 &m, const Mat3x3 &R, const doublereal &c)
Mat6x6	MultVCrossMat (const Mat6x6 &m, const Vec3 &v)
Mat6x6	MultVCrossTMat (const Mat6x6 &m, const Vec3 &v)
Mat6x6	MultMatVCross (const Mat6x6 &m, const Vec3 &v)
Mat6x6	MultMatVCrossT (const Mat6x6 &m, const Vec3 &v)

Variables
const Vec6	Zero6 (0., 0., 0., 0., 0., 0.)
const Mat6x6	Zero6x6 (0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.)
const Mat6x6	Eye6 (1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1.)

Function Documentation

Mat6x6 MultMatVCross	(	const Mat6x6 &	m,
		const Vec3 &	v
	)

Definition at line 254 of file matvec6.cc.

References Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), Mat6x6::GetMat22(), and MatCross.

{
        Mat3x3 vCross(MatCross, v);

        return Mat6x6(m.GetMat11(),
                m.GetMat21(),
                m.GetMat11()*vCross + m.GetMat12(),
                m.GetMat21()*vCross + m.GetMat22());
}

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Mat6x6 MultMatVCrossT	(	const Mat6x6 &	m,
		const Vec3 &	v
	)

Definition at line 269 of file matvec6.cc.

References Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), Mat6x6::GetMat22(), and MatCross.

{
        Mat3x3 vCross(MatCross, v);

        return Mat6x6(m.GetMat11() + m.GetMat12()*vCross,
                m.GetMat21() + m.GetMat22()*vCross,
                m.GetMat12(),
                m.GetMat22());
}

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Mat6x6 MultMRt	(	const Mat6x6 &	m,
		const Mat3x3 &	R
	)

Definition at line 203 of file matvec6.cc.

References Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), Mat6x6::GetMat22(), and Mat3x3::MulMT().

{
   return Mat6x6(m.GetMat11().MulMT(R), m.GetMat21().MulMT(R), 
                 m.GetMat12().MulMT(R), m.GetMat22().MulMT(R));   
}

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Mat6x6 MultRM	(	const Mat6x6 &	m,
		const Mat3x3 &	R
	)

Definition at line 196 of file matvec6.cc.

References Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), and Mat6x6::GetMat22().

{
   return Mat6x6(R*m.GetMat11(), R*m.GetMat21(),
                 R*m.GetMat12(), R*m.GetMat22());
}

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Mat6x6 MultRMRt	(	const Mat6x6 &	m,
		const Mat3x3 &	R
	)

Definition at line 210 of file matvec6.cc.

References Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), Mat6x6::GetMat22(), and Mat3x3::MulMT().

{   
   return Mat6x6(R*m.GetMat11().MulMT(R), R*m.GetMat21().MulMT(R), 
                 R*m.GetMat12().MulMT(R), R*m.GetMat22().MulMT(R));   
}

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Mat6x6 MultRMRt	(	const Mat6x6 &	m,
		const Mat3x3 &	R,
		const doublereal &	c
	)

Definition at line 216 of file matvec6.cc.

References Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), Mat6x6::GetMat22(), and Mat3x3::MulMT().

{
   Mat3x3 Rc(R*c);
   return Mat6x6(R*m.GetMat11().MulMT(Rc), R*m.GetMat21().MulMT(Rc), 
                 R*m.GetMat12().MulMT(Rc), R*m.GetMat22().MulMT(Rc));   
}

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Vec6 MultRV	(	const Vec6 &	v,
		const Mat3x3 &	R
	)

Definition at line 190 of file matvec6.cc.

References Vec6::GetVec1(), and Vec6::GetVec2().

{
   return Vec6(R*v.GetVec1(), R*v.GetVec2());
}

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Mat6x6 MultVCrossMat	(	const Mat6x6 &	m,
		const Vec3 &	v
	)

Definition at line 228 of file matvec6.cc.

References Vec3::Cross(), Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), and Mat6x6::GetMat22().

{
   return Mat6x6(m.GetMat11(), 
                 v.Cross(m.GetMat11())+m.GetMat21(),
                 m.GetMat12(),
                 v.Cross(m.GetMat12())+m.GetMat22());
}

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Mat6x6 MultVCrossTMat	(	const Mat6x6 &	m,
		const Vec3 &	v
	)

Definition at line 241 of file matvec6.cc.

References Vec3::Cross(), Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), and Mat6x6::GetMat22().

{
   return Mat6x6(m.GetMat11()+v.Cross(m.GetMat21()),
                 m.GetMat21(),
                 m.GetMat12()+v.Cross(m.GetMat22()),
                 m.GetMat22());
}

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Vec6 operator+

(

const Vec6 &

v

)

Definition at line 81 of file matvec6.cc.

{
   return v;
}

Vec6 operator-

(

const Vec6 &

v

)

Definition at line 87 of file matvec6.cc.

References Vec6::GetVec1(), and Vec6::GetVec2().

{
   return Vec6(-v.GetVec1(), -v.GetVec2());
}

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std::ostream& operator<<	(	std::ostream &	out,
		const Vec6 &	v
	)

Definition at line 94 of file matvec6.cc.

References Vec3::dGet(), Vec6::GetVec1(), and Vec6::GetVec2().

{
   const Vec3& v1 = v.GetVec1();
   const Vec3& v2 = v.GetVec2();
   return out 
     << v1.dGet(1) << " " << v1.dGet(2) << " " << v1.dGet(3) << " " 
     << v2.dGet(1) << " " << v2.dGet(2) << " " << v2.dGet(3);    
}

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std::ostream& operator<<	(	std::ostream &	out,
		const Mat6x6 &	m
	)

Definition at line 160 of file matvec6.cc.

References Mat3x3::dGet(), Mat6x6::GetMat11(), Mat6x6::GetMat12(), Mat6x6::GetMat21(), and Mat6x6::GetMat22().

{
   const Mat3x3& m11 = m.GetMat11();
   const Mat3x3& m12 = m.GetMat12();
   const Mat3x3& m21 = m.GetMat21();
   const Mat3x3& m22 = m.GetMat22();
   return out 
     << m11.dGet(1, 1) << " " << m11.dGet(1, 2) << " " << m11.dGet(1,3) << " " 
     << m12.dGet(1, 1) << " " << m12.dGet(1, 2) << " " << m12.dGet(1,3) << std::endl
     << m11.dGet(2, 1) << " " << m11.dGet(2, 2) << " " << m11.dGet(2,3) << " " 
     << m12.dGet(2, 1) << " " << m12.dGet(2, 2) << " " << m12.dGet(2,3) << std::endl
     << m11.dGet(3, 1) << " " << m11.dGet(3, 2) << " " << m11.dGet(3,3) << " " 
     << m12.dGet(3, 1) << " " << m12.dGet(3, 2) << " " << m12.dGet(3,3) << std::endl
     << m21.dGet(1, 1) << " " << m21.dGet(1, 2) << " " << m21.dGet(1,3) << " " 
     << m22.dGet(1, 1) << " " << m22.dGet(1, 2) << " " << m22.dGet(1,3) << std::endl
     << m21.dGet(2, 1) << " " << m21.dGet(2, 2) << " " << m21.dGet(2,3) << " " 
     << m22.dGet(2, 1) << " " << m22.dGet(2, 2) << " " << m22.dGet(2,3) << std::endl
     << m21.dGet(3, 1) << " " << m21.dGet(3, 2) << " " << m21.dGet(3,3) << " " 
     << m22.dGet(3, 1) << " " << m22.dGet(3, 2) << " " << m22.dGet(3,3);     
}

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std::ostream& Write	(	std::ostream &	out,
		const Vec6 &	v,
		const char *	sFill
	)

Definition at line 105 of file matvec6.cc.

References Vec6::Write().

{
   return v.Write(out, sFill);
}

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std::ostream& Write	(	std::ostream &	out,
		const Mat6x6 &	m,
		const char *	sFill,
		const char *	sFill2
	)

Definition at line 183 of file matvec6.cc.

References Mat6x6::Write().

{
   return m.Write(out, sFill, sFill2);
}

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Variable Documentation

const Mat6x6 Eye6(1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1.)

Referenced by MBDynParser::GetMat6x6().

const Vec6 Zero6(0., 0., 0., 0., 0., 0.)

Referenced by ViscousBody::AfterConvergence(), ViscousBody::AfterPredict(), ViscousJoint::AfterPredict(), ViscousBody::AssVec(), ViscousJoint::AssVec(), Beam2::Beam2(), Beam2::DsDxi(), Beam::DsDxi(), MBDynParser::GetVec6(), HBeam::HBeam(), Beam::Init(), ViscoElasticBeam::Init(), mb_zero< Vec6 >(), and ViscoElasticBeam2::ViscoElasticBeam2().

const Mat6x6 Zero6x6(0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.)

Referenced by MBDynParser::GetMat6x6(), and mb_zero< Mat6x6 >().