//------------------------------------------------------------------------------
// <friend>
// Rmatrix33 Outerproduct(const Rvector3 &v1, const Rvector3 &v2)
//------------------------------------------------------------------------------
Rmatrix33 Outerproduct(const Rvector3 &v1, const Rvector3 &v2)
{
return Rmatrix33(v1.elementD[0] * v2.elementD[0],
v1.elementD[0] * v2.elementD[1],
v1.elementD[0] * v2.elementD[2],
v1.elementD[1] * v2.elementD[0],
v1.elementD[1] * v2.elementD[1],
v1.elementD[1] * v2.elementD[2],
v1.elementD[2] * v2.elementD[0],
v1.elementD[2] * v2.elementD[1],
v1.elementD[2] * v2.elementD[2]);
}
//--------------------------------------------------------------------
Rmatrix33 Joint::GetMatrix () const
// Returns the rotation matrix for all the turns in a joint combined
{
//Rmatrix33 out = new Rmatrix33(true);
Rmatrix33 out = Rmatrix33(true);
for (Integer jx=0; jx<=3-1; ++jx)
if (Use[jx])
{
Rmatrix33 qq = AttitudeConversionUtility::EulerAxisAndAngleToDCM
(Axis[jx],GetAngleDeg(jx));
out = qq*out;
}
return out;
}