kic_jacobian.cc File Reference

Jacobian for kinematic closure Adapted from Dodd, Boone & Theodorou, 1987 and Wu & Deem, 1999. Need for random rotation is eliminated by combining rows 4 & 5 with correction factor to produce a 4x4 frame invariant form. Uses formula eq.25, p.76, J.W. Gibbs, Vector Analysis, Dover, 1965. More...

#include <numeric/types.hh>
#include <utility/vector1.hh>
#include <iostream>
#include <cmath>

Namespaces
	numeric
	Unit headers.
	numeric::kinematic_closure

Functions
void	numeric::kinematic_closure::printMatrix (const utility::vector1< utility::vector1< Real > > &M)
	prints the matrix More...
void	numeric::kinematic_closure::printVector (const utility::vector1< Real > &V)
	helper functions /// More...
void	numeric::kinematic_closure::printVectorTranspose (const utility::vector1< Real > &V)
Real	numeric::kinematic_closure::det_3 (const vector1< Real > &j1, const vector1< Real > &j2, const vector1< Real > &j3)
void	numeric::kinematic_closure::crossp (const vector1< Real > &U, const vector1< Real > &V, vector1< Real > &crossp_out)
Real	numeric::kinematic_closure::dot_product_3x3 (const vector1< Real > &A, const vector1< Real > &B)
void	numeric::kinematic_closure::normalize (const vector1< Real > &V, vector1< Real > &norm_out)
Real	numeric::kinematic_closure::kic_jac (const vector1< vector1< Real > > &r_n, const vector1< vector1< Real > > &r_ca, const vector1< vector1< Real > > &r_c)
void	numeric::kinematic_closure::test_kic_jac ()
void	numeric::kinematic_closure::test_normalize ()
void	numeric::kinematic_closure::test_crossp ()
void	numeric::kinematic_closure::test_det_3 ()
int	main (int argc, char **argv)

Detailed Description

Jacobian for kinematic closure Adapted from Dodd, Boone & Theodorou, 1987 and Wu & Deem, 1999. Need for random rotation is eliminated by combining rows 4 & 5 with correction factor to produce a 4x4 frame invariant form. Uses formula eq.25, p.76, J.W. Gibbs, Vector Analysis, Dover, 1965.

Author

Evangelos A. Coutsias

Daniel J. Mandell

Function Documentation

int main	(	int	argc,
		char **	argv
	)

References numeric::kinematic_closure::test_kic_jac().