chrono::ChStarMatrix44< Real > Class Template Reference
Description
template<typename Real = double>
class chrono::ChStarMatrix44< Real >
Special MBD 4x4 "star" matrix, representing quaternion cross product.
That is, given two quaternions a and b, a x b= [Astar] * b
#include <ChMatrixMBD.h>
Inherits ChMatrix44< Real >.
Public Member Functions | |
| ChStarMatrix44 (const ChQuaternion< Real > &q) | |
| Constructor from a given quaternion. | |
| void | semiTranspose () |
| Transposes only the lower-right 3x3 submatrix of a hemisymmetric 4x4 matrix, used when the 4x4 matrix is a "star" matrix [q] coming from a quaternion q: the non commutative quaternion product is: q1 x q2 = [q1]*q2 = [q2st]*q1 where [q2st] is the "semi-transpose" of [q2]. | |
| void | semiNegate () |
| Change the sign of the 2nd, 3rd and 4th columns of this matrix. More... | |
Member Function Documentation
◆ semiNegate()
template<typename Real = double>
|
inline |
Change the sign of the 2nd, 3rd and 4th columns of this matrix.
The product between a quaternion q1 and the conjugate of q2 (q2'), is: q1 x q2' = [q1]*q2' = [q1sn]*q2 where [q1sn] is the semi-negation of the 4x4 matrix [q1].
The documentation for this class was generated from the following file:
- /builds/uwsbel/chrono/src/chrono/core/ChMatrixMBD.h
