C++ (Cpp) Rotation::convertRotationToBodyFixedXYZ Examples

Example #1

File: EllipsoidJoint.cpp Project: cpizzolato/opensim-core

void EllipsoidJoint::extendSetPropertiesFromState(const SimTK::State& state)
{
    Super::extendSetPropertiesFromState(state);

    // Override default in case of quaternions.
    const SimbodyMatterSubsystem& matter = getModel().getMatterSubsystem();
    if (!matter.getUseEulerAngles(state)) {

        Rotation r = getChildFrame().getMobilizedBody().getBodyRotation(state);
        Vec3 angles = r.convertRotationToBodyFixedXYZ();

        updCoordinate(EllipsoidJoint::Coord::Rotation1X).setDefaultValue(angles[0]);
        updCoordinate(EllipsoidJoint::Coord::Rotation2Y).setDefaultValue(angles[1]);
        updCoordinate(EllipsoidJoint::Coord::Rotation3Z).setDefaultValue(angles[2]);
    }
}

Example #2

File: GimbalJoint.cpp Project: wagglefoot/opensim-core

void GimbalJoint::extendSetPropertiesFromState(const SimTK::State& state)
{
    Super::extendSetPropertiesFromState(state);

    // Override default behavior in case of quaternions.
    const MultibodySystem&        system = _model->getMultibodySystem();
    const SimbodyMatterSubsystem& matter = system.getMatterSubsystem();
    if (!matter.getUseEulerAngles(state)) {
        Rotation r = getChildFrame().getMobilizedBody().getBodyRotation(state);
        Vec3 angles = r.convertRotationToBodyFixedXYZ();
    
        const CoordinateSet& coordinateSet = get_CoordinateSet();

        coordinateSet[0].setDefaultValue(angles[0]);
        coordinateSet[1].setDefaultValue(angles[1]);
        coordinateSet[2].setDefaultValue(angles[2]);
    }
}

Example #3

File: FreeJoint.cpp Project: antoinefalisse/opensim-core

void FreeJoint::extendSetPropertiesFromState(const SimTK::State& state)
{
    Super::extendSetPropertiesFromState(state);

    // Override default behavior in case of quaternions.
    const MultibodySystem& system = _model->getMultibodySystem();
    const SimbodyMatterSubsystem& matter = system.getMatterSubsystem();
    if (!matter.getUseEulerAngles(state)) {
        Rotation r = getChildFrame().getMobilizedBody().getMobilizerTransform(state).R();
        Vec3 t = getChildFrame().getMobilizedBody().getMobilizerTransform(state).p();

        Vec3 angles = r.convertRotationToBodyFixedXYZ();
        updCoordinate(FreeJoint::Coord::Rotation1X).setDefaultValue(angles[0]);
        updCoordinate(FreeJoint::Coord::Rotation2Y).setDefaultValue(angles[1]);
        updCoordinate(FreeJoint::Coord::Rotation3Z).setDefaultValue(angles[2]);
        updCoordinate(FreeJoint::Coord::TranslationX).setDefaultValue(t[0]); 
        updCoordinate(FreeJoint::Coord::TranslationY).setDefaultValue(t[1]); 
        updCoordinate(FreeJoint::Coord::TranslationZ).setDefaultValue(t[2]);
    }
}

Example #4

File: FreeJoint.cpp Project: ANKELA/opensim-core

void FreeJoint::extendSetPropertiesFromState(const SimTK::State& state)
{
    Super::extendSetPropertiesFromState(state);

    // Override default behavior in case of quaternions.
    const MultibodySystem& system = _model->getMultibodySystem();
    const SimbodyMatterSubsystem& matter = system.getMatterSubsystem();
    if (!matter.getUseEulerAngles(state)) {
        Rotation r = getChildFrame().getMobilizedBody().getMobilizerTransform(state).R();
        Vec3 t = getChildFrame().getMobilizedBody().getMobilizerTransform(state).p();

        Vec3 angles = r.convertRotationToBodyFixedXYZ();
        int zero = 0; // Workaround for really ridiculous Visual Studio 8 bug.
        
        const CoordinateSet& coordinateSet = get_CoordinateSet();
 
        coordinateSet.get(zero).setDefaultValue(angles[0]);
        coordinateSet.get(1).setDefaultValue(angles[1]);
        coordinateSet.get(2).setDefaultValue(angles[2]);
        coordinateSet.get(3).setDefaultValue(t[0]); 
        coordinateSet.get(4).setDefaultValue(t[1]); 
        coordinateSet.get(5).setDefaultValue(t[2]);
    }
}