| 36 |
|
static double* getMuArray( void ) { return mu; } |
| 37 |
|
static double* getUlArray( void ) { return ul; } |
| 38 |
|
|
| 39 |
+ |
void getPos( double theP[3] ); |
| 40 |
+ |
void setPos( double theP[3] ); |
| 41 |
+ |
|
| 42 |
|
double getX() const {return pos[offsetX];} |
| 43 |
|
double getY() const {return pos[offsetY];} |
| 44 |
|
double getZ() const {return pos[offsetZ];} |
| 46 |
|
void setY(double y) {pos[offsetY] = y;} |
| 47 |
|
void setZ(double z) {pos[offsetZ] = z;} |
| 48 |
|
|
| 49 |
+ |
void getVel( double theV[3] ); |
| 50 |
+ |
void setVel( double theV[3] ); |
| 51 |
+ |
|
| 52 |
|
double get_vx() const {return vel[offsetX];} |
| 53 |
|
double get_vy() const {return vel[offsetY];} |
| 54 |
|
double get_vz() const {return vel[offsetZ];} |
| 56 |
|
void set_vy(double vy) {vel[offsetY] = vy;} |
| 57 |
|
void set_vz(double vz) {vel[offsetZ] = vz;} |
| 58 |
|
|
| 59 |
+ |
|
| 60 |
+ |
void getFrc( double theF[3] ); |
| 61 |
+ |
void addFrc( double theF[3] ); |
| 62 |
+ |
|
| 63 |
|
double getFx() const {return frc[offsetX];} |
| 64 |
|
double getFy() const {return frc[offsetY];} |
| 65 |
|
double getFz() const {return frc[offsetZ];} |
| 171 |
|
void setSSD( int value) { ssdIdentity = value; } |
| 172 |
|
int isSSD(void) {return ssdIdentity; } |
| 173 |
|
|
| 164 |
– |
void setA( double the_A[3][3] ); |
| 165 |
– |
|
| 166 |
– |
void setI( double the_I[3][3] ); |
| 167 |
– |
|
| 168 |
– |
void setQ( double the_q[4] ); |
| 174 |
|
|
| 175 |
|
void setEuler( double phi, double theta, double psi ); |
| 176 |
+ |
|
| 177 |
+ |
double getSUx( void ) { return sux; } |
| 178 |
+ |
double getSUy( void ) { return suy; } |
| 179 |
+ |
double getSUz( void ) { return suz; } |
| 180 |
|
|
| 181 |
|
void setSUx( double the_sux ) { sux = the_sux; } |
| 182 |
|
void setSUy( double the_suy ) { suy = the_suy; } |
| 183 |
|
void setSUz( double the_suz ) { suz = the_suz; } |
| 184 |
|
|
| 176 |
– |
void setJx( double the_jx ) { jx = the_jx; } |
| 177 |
– |
void setJy( double the_jy ) { jy = the_jy; } |
| 178 |
– |
void setJz( double the_jz ) { jz = the_jz; } |
| 179 |
– |
|
| 180 |
– |
void addTx( double the_tx ) { trq[offsetX] += the_tx;} |
| 181 |
– |
void addTy( double the_ty ) { trq[offsetY] += the_ty;} |
| 182 |
– |
void addTz( double the_tz ) { trq[offsetZ] += the_tz;} |
| 183 |
– |
|
| 185 |
|
void zeroForces() { |
| 186 |
|
frc[offsetX] = 0.0; |
| 187 |
|
frc[offsetY] = 0.0; |
| 193 |
|
} |
| 194 |
|
|
| 195 |
|
void getA( double the_A[3][3] ); // get the full rotation matrix |
| 196 |
+ |
void setA( double the_A[3][3] ); |
| 197 |
|
|
| 196 |
– |
double getSUx( void ) { return sux; } |
| 197 |
– |
double getSUy( void ) { return suy; } |
| 198 |
– |
double getSUz( void ) { return suz; } |
| 199 |
– |
|
| 198 |
|
void getU( double the_u[3] ); // get the unit vetor |
| 199 |
+ |
void updateU( void ); |
| 200 |
+ |
|
| 201 |
|
void getQ( double the_q[4] ); // get the quanternions |
| 202 |
+ |
void setQ( double the_q[4] ); |
| 203 |
|
|
| 204 |
+ |
void getJ( double theJ[3] ); |
| 205 |
+ |
void setJ( double theJ[3] ); |
| 206 |
+ |
|
| 207 |
|
double getJx( void ) { return jx; } |
| 208 |
|
double getJy( void ) { return jy; } |
| 209 |
|
double getJz( void ) { return jz; } |
| 210 |
|
|
| 211 |
+ |
void setJx( double the_jx ) { jx = the_jx; } |
| 212 |
+ |
void setJy( double the_jy ) { jy = the_jy; } |
| 213 |
+ |
void setJz( double the_jz ) { jz = the_jz; } |
| 214 |
+ |
|
| 215 |
+ |
void getTrq( double theT[3] ); |
| 216 |
+ |
void addTrq( double theT[3] ); |
| 217 |
+ |
|
| 218 |
|
double getTx( void ) { return trq[offsetX];} |
| 219 |
|
double getTy( void ) { return trq[offsetY]; } |
| 220 |
|
double getTz( void ) { return trq[offsetZ]; } |
| 221 |
|
|
| 222 |
+ |
void addTx( double the_tx ) { trq[offsetX] += the_tx;} |
| 223 |
+ |
void addTy( double the_ty ) { trq[offsetY] += the_ty;} |
| 224 |
+ |
void addTz( double the_tz ) { trq[offsetZ] += the_tz;} |
| 225 |
+ |
|
| 226 |
+ |
void setI( double the_I[3][3] ); |
| 227 |
+ |
void getI( double the_I[3][3] ); |
| 228 |
+ |
|
| 229 |
|
double getIxx( void ) { return Ixx; } |
| 230 |
|
double getIxy( void ) { return Ixy; } |
| 231 |
|
double getIxz( void ) { return Ixz; } |
| 237 |
|
double getIzx( void ) { return Izx; } |
| 238 |
|
double getIzy( void ) { return Izy; } |
| 239 |
|
double getIzz( void ) { return Izz; } |
| 240 |
+ |
|
| 241 |
|
|
| 242 |
|
double getMu( void ) { return mu[index]; } |
| 243 |
|
void setMu( double the_mu ) { mu[index] = the_mu; } |
| 244 |
|
|
| 245 |
|
void lab2Body( double r[3] ); |
| 246 |
|
void body2Lab( double r[3] ); |
| 228 |
– |
void updateU( void ); |
| 247 |
|
|
| 248 |
+ |
|
| 249 |
|
private: |
| 250 |
|
int dIndex; |
| 251 |
|
|