| 86 |
|
|
| 87 |
|
Mat3x3d R(0.0); |
| 88 |
|
|
| 89 |
< |
for (int n = 0; n < struc.size(); n++){ |
| 89 |
> |
for (unsigned int n = 0; n < struc.size(); n++){ |
| 90 |
|
|
| 91 |
|
/* |
| 92 |
|
* correlation matrix R: |
| 138 |
|
Vector3d eularAngles = A.toEulerAngles(); |
| 139 |
|
|
| 140 |
|
|
| 141 |
< |
RealType twistAngle, swingAngle; |
| 141 |
> |
RealType twistAngle; |
| 142 |
|
Vector3d swingAxis; |
| 143 |
|
|
| 144 |
|
Quat4d quat = A.toQuaternion(); |
| 145 |
|
|
| 146 |
< |
RealType tw, sx, sy, ttw, swingX, swingY; |
| 146 |
> |
RealType swingX, swingY; |
| 147 |
|
quat.toSwingTwist(swingX, swingY, twistAngle); |
| 148 |
|
|
| 149 |
< |
RealType dVdtwist, dVdswing, dVdswingX, dVdswingY; |
| 150 |
< |
RealType dTwist, dSwing, dSwingX, dSwingY; |
| 149 |
> |
RealType dVdtwist, dVdswingX, dVdswingY; |
| 150 |
> |
RealType dTwist, dSwingX, dSwingY; |
| 151 |
|
RealType p; |
| 152 |
|
|
| 153 |
|
if (restType_ & rtTwist){ |
| 190 |
|
|
| 191 |
|
Vector3d rLab, rBody, txr, fBody, fLab; |
| 192 |
|
|
| 193 |
< |
for (int i = 0; i < struc.size(); i++) { |
| 193 |
> |
for (unsigned int i = 0; i < struc.size(); i++) { |
| 194 |
|
|
| 195 |
|
rLab = struc[i]; |
| 196 |
|
rBody = A * rLab; |
