chrono::ChCoordsys< Real > Class Template Reference

#include <CHcoordsys.h>

List of all members.

Public Member Functions
	ChCoordsys (const ChVector< Real > mv, const ChQuaternion< Real > mq=QUNIT)
	ChCoordsys (const ChCoordsys< Real > &other)
ChCoordsys< Real > &	operator= (const ChCoordsys< Real > &other)
bool	operator<= (const ChCoordsys< Real > &other) const
bool	operator>= (const ChCoordsys< Real > &other) const
bool	operator== (const ChCoordsys< Real > &other) const
bool	operator!= (const ChCoordsys< Real > &other) const
void	Force2D ()
bool	Equals (const ChCoordsys< Real > &other) const
bool	Equals (const ChCoordsys< Real > &other, Real tol) const
void	SetIdentity ()
ChVector< Real >	TrasformParentToLocal (const ChVector< Real > &parent) const
ChVector< Real >	TrasformLocalToParent (const ChVector< Real > &local) const
void	StreamOUT (ChStreamOutAscii &mstream)
void	StreamOUT (ChStreamOutBinary &mstream)
void	StreamIN (ChStreamInBinary &mstream)
Public Attributes
ChVector< Real >	pos
ChQuaternion< Real >	rot

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Detailed Description

template<class Real = double>
class chrono::ChCoordsys< Real >

COORDSYS:

This class contains both traslational variable (the origin of the axis) and the rotational variable (that is the unitary quaternion which represent the special-orthogonal transformation matrix). Basic features for point-coordinate transformations are provided. However, for more advanced features, the heavier classes ChFrame() or ChFrameMoving() may suit better. The coordsys object comes either with the template "ChCoordsys<type>" mode, either in the 'shortcut' flavour, that is "Coordsys", which assumes the type of the four scalars is double precision, so it is faster to type.

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Member Function Documentation

template<class Real = double>

void chrono::ChCoordsys< Real >::StreamIN

(

ChStreamInBinary &

mstream

)

Operator to allow deserializing a persistent binary archive (ex: a file) into transient data.

template<class Real = double>

void chrono::ChCoordsys< Real >::StreamOUT

(

ChStreamOutAscii &

mstream

)

Method to allow serializing transient data into in ascii as a readable item, for example "chrono::GetLog() << myobject;"

template<class Real = double>

void chrono::ChCoordsys< Real >::StreamOUT

(

ChStreamOutBinary &

mstream

)

Method to allow serializing transient data into a persistent binary archive (ex: a file).

template<class Real = double>

ChVector<Real> chrono::ChCoordsys< Real >::TrasformLocalToParent

(

const ChVector< Real > &

local

)

const

This function transforms a point from the local coordinate system to the parent coordinate system. Relative position of local respect to parent is given by this coordys, i.e. 'origin' translation and 'alignment' quaternion.

Returns:

The point in parent coordinate, as parent=origin +q*[0,(local)]*q'

Parameters:

local

point to transform, given in local coordinates

template<class Real = double>

ChVector<Real> chrono::ChCoordsys< Real >::TrasformParentToLocal

(

const ChVector< Real > &

parent

)

const

This function transforms a point from the parent coordinate system to a local coordinate system, whose relative position is given by this coodsys, i.e. 'origin' translation and 'alignment' quaternion.

Returns:

The point in local coordinate, as local=q'*[0,(parent-origin)]*q

Parameters:

parent

point to transform, given in parent coordinates