double Line::GetInnerAngleDeg(const Line& ref) const
{
double diff;
diff = fabs( GetAngleDeg() - ref.GetAngleDeg() );
while ( diff > 180 )
diff -= 180;
if ( diff > 90 )
diff = 180 - diff;
return diff;
}
//--------------------------------------------------------------------
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;
}
