Searched refs:R_GF (Results 1 – 8 of 8) sorted by relevance
221 const Rotation& R_GF = bodyF.getBodyRotation(state); in findForceOnSphereInG() local222 const Rotation R_GP = R_GF * R_FP; // orientation of P frame in G in findForceOnSphereInG()241 const Rotation& R_GF = bodyF.getBodyRotation(s); in findContactPointInG() local242 const UnitVec3 Pz_G = R_GF * Pz_F; in findContactPointInG()
60 const Rotation R_GF = (noR_PF ? R_GP : R_GP * R_PF); // 45 flops in calcParentToChildVelocityJacobianInGround() local63 H_PB_G = R_GF * H_FM; // 3*dof flops in calcParentToChildVelocityJacobianInGround()72 H_PB_G = R_GF * (H_FM + H_MB_F); // 36*dof flops in calcParentToChildVelocityJacobianInGround()100 const Rotation R_GF = (noR_PF ? R_GP : R_GP * R_PF); // 45 flops (TODO: again??) in calcParentToChildVelocityJacobianInGroundDot() local108 HDot_PB_G = R_GF * HDot_FM // 48*dof in calcParentToChildVelocityJacobianInGroundDot()125 HDot_PB_G = R_GF * (HDot_FM + HDot_MB_F) // 54*dof in calcParentToChildVelocityJacobianInGroundDot()
456 const Rotation& R_GF = pc.X_GF.R(); in ensureVelocityCacheValid() local479 vc.V_FM = ~R_GF * SpatialVec(V_FM_G[0], in ensureVelocityCacheValid()520 const Rotation& R_GF = pc.X_GF.R(); in ensureForceCacheValid() local564 const Vec3 fM_G = R_GF*fM_F; in ensureForceCacheValid()
378 const auto& R_GF = getParentFrame().getTransformInGround(s).R(); in calcVelocityInGround() local379 const Vec3 r = R_GF*getLocation(s); in calcVelocityInGround()382 const Vec3 v = R_GF*getVelocity(s); in calcVelocityInGround()
472 const SimTK::Rotation& R_GF = X_GF.R(); in computeRelativeVelocity() local492 return ~R_GF * SimTK::SpatialVec(V_FM_G[0], V_FM_G[1] - V_GF[0] % p_FM_G); in computeRelativeVelocity()
151 Rotation R_GF = R_GP*R_PF; // F frame orientation in Ground. in main() local152 Vec3 p_MF_G = -(R_GF*p_FM); // Re-express and negate shift vector. in main()
292 Rotation R_GF = R_GP*R_PF; // F frame orientation in Ground. in testByComparingToConstraints2() local293 Vec3 p_MF_G = -(R_GF*p_FM); // Re-express and negate shift vector. in testByComparingToConstraints2()
693 Rotation R_GF = R_GP*R_PF; // F frame orientation in Ground. in main() local694 Vec3 p_MF_G = -(R_GF*p_FM); // Re-express and negate shift vector. in main()