CGR_Rot::Param_Manip Class Reference

#include <matvec3.h>

Inheritance diagram for CGR_Rot::Param_Manip:

Collaboration diagram for CGR_Rot::Param_Manip:

Public Member Functions
	Param_Manip ()
void	Manipulate (Vec3 &v, const Mat3x3 &m) const
Public Member Functions inherited from Vec3_Manip
virtual	~Vec3_Manip (void)

Detailed Description

Definition at line 1664 of file matvec3.h.

Constructor & Destructor Documentation

CGR_Rot::Param_Manip::Param_Manip ( )

inline

Definition at line 1666 of file matvec3.h.

{};

Member Function Documentation

void CGR_Rot::Param_Manip::Manipulate ( Vec3 &  v, const Mat3x3 &  m  ) const

inlinevirtual

Implements Vec3_Manip.

Definition at line 1667 of file matvec3.h.

References Mat3x3::Ax(), grad::fabs(), MBDYN_EXCEPT_ARGS, and Mat3x3::Trace().

                                                               {
                // singularity test
                doublereal d = 1. + m.Trace();
   
                if (fabs(d) < std::numeric_limits<doublereal>::epsilon()) {
                        silent_cerr("Param_Manip(): divide by zero, "
                        "probably due to singularity in rotation parameters" << std::endl);
                        throw ErrDivideByZero(MBDYN_EXCEPT_ARGS);
                }
   
                v = m.Ax()*(4./d);
        };

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The documentation for this class was generated from the following file:

• matvec3.h