1 /*
2  *_________________________________________________________________________*
3  *      POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE     *
4  *      DESCRIPTION: SEE READ-ME                                           *
5  *      FILE NAME: eulerparameters.h                                       *
6  *      AUTHORS: See Author List                                           *
7  *      GRANTS: See Grants List                                            *
8  *      COPYRIGHT: (C) 2005 by Authors as listed in Author's List          *
9  *      LICENSE: Please see License Agreement                              *
10  *      DOWNLOAD: Free at www.rpi.edu/~anderk5                             *
11  *      ADMINISTRATOR: Prof. Kurt Anderson                                 *
12  *                     Computational Dynamics Lab                          *
13  *                     Rensselaer Polytechnic Institute                    *
14  *                     110 8th St. Troy NY 12180                           *
15  *      CONTACT:        anderk5@rpi.edu                                    *
16  *_________________________________________________________________________*/
17 
18 #ifndef EULERPARAMETERS_H
19 #define EULERPARAMETERS_H
20 
21 #include "colmatrix.h"
22 #include "mat3x3.h"
23 
24 void EP_Derivatives(ColMatrix& q, ColMatrix& u, ColMatrix& qdot);
25 
26 void EP_Transformation(ColMatrix& q, Mat3x3& C);
27 
28 void EP_FromTransformation(ColMatrix& q, Mat3x3& C);
29 
30 void EP_Normalize(ColMatrix& q);
31 
32 void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq,ColMatrix& Aqddot);
33 
34 void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot);
35 
36 #endif
37 
38