playground.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/utils/playground.cc,v 1.17 2017/01/12 15:10:28 masarati Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 * 
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#include "mbconfig.h"           /* This goes first in every *.c,*.cc file */

#include <cstdlib>
#include <cstring>
#include <iostream>

#include "matvec3.h"
#include "matvec6.h"
#include "matvecexp.h"
#include "Rot.hh"

int 
main(int argn, const char* const argv[])
{
        static doublereal d[9];
        while (true) {
                std::cin >> d[0];
                if (std::cin) {
                        std::cin >> d[1] >> d[2];

#if 0
                        Mat3x3 Gamma_m1 = RotManip::DRot_I(Vec3(d));
                        Mat3x3 Gamma = Gamma_m1.Inv();
                        doublereal dDet = Gamma.dDet();
                        std::cout << "Gamma=" << Gamma << " det(Gamma)=" << dDet << std::endl;
#endif

#if 0
                        Mat3x3 R(RotManip::Rot(d));
                        Vec3 Theta(RotManip::VecRot(R));
                        Mat3x3 Rcheck(RotManip::Rot(Theta));
                        std::cout << "R={" << R << "}" << std::endl
                                << "  V={" << Theta << "}" << std::endl
                                << "  R={" << Rcheck << "}" << std::endl
                                << "  I={" << R.MulMT(Rcheck) << "}"
                                << std::endl;
#endif

                        std::cin >> d[3] >> d[4] >> d[5] >> d[6] >> d[7] >> d[8];
                        Mat3x3 M(d[0], d[1], d[2], d[3], d[4], d[5], d[6], d[7], d[8]);
                        doublereal b[3];
                        std::cin >> b[0] >> b[1] >> b[2];
                        Vec3 x = M.LDLSolve(Vec3(b[0], b[1], b[2]));
                        std::cout << x << std::endl;
                } else {
                        break;
                }
        }
   
        return EXIT_SUCCESS;
}