Eigen::Matrix< T, N, 1 > ChVectorN
Column vector with fixed size (known at compile time).
Definition: ChMatrix.h:108
Eigen::Matrix< T, 4, 4, Eigen::RowMajor > ChMatrix44
4x4 dense matrix (fixed-size, row-major ordering)
Definition: ChMatrixMBD.h:42
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > ChMatrixDynamic
Dense matrix with dynamic size (i.e., with unknown at compile time) and row-major storage.
Definition: ChMatrix.h:73
ChLog & GetLog()
Global function to get the current ChLog object.
Definition: ChLog.cpp:39
Definition of a 3x3 fixed size matrix to represent 3D rotations and inertia tensors.
Definition: ChMatrix33.h:31
Eigen::Matrix< T, 4, 3, Eigen::ColMajor > ChMatrix43
4x3 dense matrix (fixed-size, row-major ordering)
Definition: ChMatrixMBD.h:38
ChQuaternion< double > Q_from_AngAxis(double angle, const ChVector< double > &axis)
Get the quaternion from an angle of rotation and an axis, defined in abs coords.
Definition: ChQuaternion.cpp:99
static ChVector< Real > TransformParentToLocal(const ChVector< Real > &parent, const ChVector< Real > &origin, const ChMatrix33< Real > &alignment)
This function transforms a point from the parent coordinate system to a local coordinate system,...
Definition: ChTransform.h:55
Eigen::Matrix< T, 3, 4, Eigen::RowMajor > ChMatrix34
3x4 dense matrix (fixed-size, row-major ordering)
Definition: ChMatrixMBD.h:34
const ChQuaternion< double > QUNIT(1., 0., 0., 0.)
Constant unit quaternion: {1, 0, 0, 0} , corresponds to no rotation (diagonal rotation matrix)
Definition: ChQuaternion.h:451
static ChVector< Real > TransformLocalToParent(const ChVector< Real > &local, const ChVector< Real > &origin, const ChMatrix33< Real > &alignment)
This function transforms a point from the local reference frame to the parent reference frame.
Definition: ChTransform.h:79
Definition of general purpose 3d vector variables, such as points in 3D.
Definition: ChVector.h:35
void Set_A_quaternion(const ChQuaternion< Real > &quat)
Fill this 3x3 matrix as a rotation matrix, given a unit quaternion.
Definition: ChMatrix33.h:235
Special MBD 4x4 "star" matrix, representing quaternion cross product.
Definition: ChMatrixMBD.h:220
Class defining quaternion objects, that is four-dimensional numbers, also known as Euler parameters.
Definition: ChQuaternion.h:45
Eigen::Matrix< T, Eigen::Dynamic, 1, Eigen::ColMajor > ChVectorDynamic
Column vector with dynamic size (i.e., with size unknown at compile time).
Definition: ChMatrix.h:98
Eigen::Matrix< T, M, N, Eigen::RowMajor > ChMatrixNM
Dense matrix with fixed size (known at compile time) and row-major storage.
Definition: ChMatrix.h:78