Public Member Functions | Static Public Member Functions | List of all members
chrono::ChGlMatrix34< Real > Class Template Reference
Chrono::Engine » Linear algebra

Description

template<typename Real = double>
class chrono::ChGlMatrix34< Real >

Special MBD 3x4 matrix [Gl(q)], as in local angular speed conversion.

Wl = [Gl] * q_dt (also, [Gl(q)] = 2*[Fp(q')] = 2*[G] with G matrix as in Shabana)

#include <ChMatrixMBD.h>

Inherits ChMatrix34< Real >.

Public Member Functions

 ChGlMatrix34 (const ChQuaternion< Real > &q)
 

Static Public Member Functions

static ChVector3< Real > Gl_times_q (const ChQuaternion< Real > &mq, const ChQuaternion< Real > &q)
 Computes the product v=[Gl(mq)]*qb without the need of having the [Gl] matrix (just pass the mq quaternion, since Gl is function of mq)
 
static ChQuaternion< Real > GlT_times_v (const ChQuaternion< Real > &mq, const ChVector3< Real > &v)
 Computes the product q=[Gl(mq)]*v without the need of having the [Gl] matrix (just pass the mq quaternion, since Gl is function of mq)
 
The documentation for this class was generated from the following file:
  • /builds/uwsbel/chrono/src/chrono/core/ChMatrixMBD.h