chrono::fea::rotutils Namespace Reference

Description

Utility functions for rotations in 3D and their derivatives.

Adapted from the MBDyn library.

Functions
template<class T1 , class T2 >
void	RotCo (const int cid, const T1 &phi, const ChVector3d &p, T2 *const cf)
template<class T1 , class T2 >
void	CoeffA (const T1 &phi, const ChVector3d &p, T2 *const coeff)
	Coefficients: up to a (COEFF_A)
template<class T1 , class T2 >
void	CoeffB (const T1 &phi, const ChVector3d &p, T2 *const coeff)
	Coefficients: up to b (COEFF_B)
template<class T1 , class T2 >
void	CoeffC (const T1 &phi, const ChVector3d &p, T2 *const coeff)
	Coefficients: up to c (COEFF_C)
template<class T1 , class T2 >
void	CoeffD (const T1 &phi, const ChVector3d &p, T2 *const coeff)
	Coefficients: up to d (COEFF_D)
template<class T1 , class T2 >
void	CoeffE (const T1 &phi, const ChVector3d &p, T2 *const coeff)
	Coefficients: up to e (COEFF_E)
template<class T1 , class T2 >
void	CoeffF (const T1 &phi, const ChVector3d &p, T2 *const coeff)
	Coefficients: up to f (COEFF_F)
template<class T1 , class T2 >
void	CoeffCStar (const T1 &phi, const ChVector3d &p, T2 *const coeff, T2 *const coeffs)
	Starred coefficients: up to c* (COEFF_C_STAR) Coefficients: up to d (COEFF_D)
template<class T1 , class T2 >
void	CoeffEStar (const T1 &phi, const ChVector3d &p, T2 *const coeff, T2 *const coeffs)
	Starred coefficients: up to e* (COEFF_E_STAR) Coefficients: up to f (COEFF_F)
ChMatrix33	Rot (const ChVector3d &phi)
	Compute the rotation matrix Phi from Euler Rogriguez's parameters phi.
ChMatrix33	DRot (const ChVector3d &phi)
	Compute a G matrix from Euler Rogriguez's parameters Phi. More...
void	RotAndDRot (const ChVector3d &phi, ChMatrix33<> &Phi, ChMatrix33<> &Ga)
	Compute rotation matrix Phi and Ga matrix from Euler Rogriguez's parameters Phi.
ChMatrix33	DRot_IT (const ChVector3d &phi)
	Compute the inverse transpose of G matrix from Euler Rogriguez's parameters Phi.
ChMatrix33	DRot_I (const ChVector3d &phi)
	Compute the inverse of G matrix from Euler Rogriguez's parameters Phi.
ChVector3d	VecRot (const ChMatrix33<> &Phi)
	Compute Euler Rogriguez's parameters phi from rotation matrix Phi.
ChMatrix33	Elle (const ChVector3d &phi, const ChVector3d &a)
	Compute, given Euler Rogriguez's parameters phi, a L matrix such that dG * a = L(phi, a) * dphi.

Variables
const int	COEFF_A = 1
const int	COEFF_B = 2
const int	COEFF_C = 3
const int	COEFF_D = 4
const int	COEFF_E = 5
const int	COEFF_F = 6
const int	COEFF_C_STAR = 1
const int	COEFF_E_STAR = 2
const double	SerCoeff [6][9]
const double	SerTrunc [6]
const double	SerThrsh [6]

Function Documentation

DRot()

ChMatrix33 chrono::fea::rotutils::DRot

(

const ChVector3d &

phi

)

Compute a G matrix from Euler Rogriguez's parameters Phi.

G is defined in such a way that dPhi * PhiT = G * dphi.

Variable Documentation

SerCoeff

const double chrono::fea::rotutils::SerCoeff[6][9]

Initial value:

= {
    {1.,  
     -6., 120., -5040., 362880., -39916800., 6227020800., -1307674368000., 355687428096000.},
    {2.,  
     -24., 720., -40320., 3628800., -479001600., 87178291200., -20922789888000., 6402373705728000.},
    {6.,  
     -120., 5040., -362880., 39916800., -6227020800., 1307674368000., -355687428096000., 121645100408832000.},
    {-12.,  
     180., -6720., 453600., -47900160., 7264857600., -1494484992000., 400148356608000., -135161222676480000.},
    {-60.,  
     1260., -60480., 4989600., -622702080., 108972864000., -25406244864000., 7602818775552000., -2838385676206080000.},
    {90.,  
     -1680., 75600., -5987520., 726485760., -124540416000., 28582025472000., -8447576417280000., 3122224243826688000.}}

SerThrsh

const double chrono::fea::rotutils::SerThrsh[6]

Initial value:

= {1.1,   
                            1.3,   
                            1.5,   
                            1.6,   
                            1.7,   
                            1.8}

SerTrunc

const double chrono::fea::rotutils::SerTrunc[6]

Initial value:

= {9,   
                            9,   
                            9,   
                            9,   
                            9,   
                            9}