eulerparameters.h
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	/*
	_________________________________________________________________________
	* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
	* DESCRIPTION: SEE READ-ME *
	* FILE NAME: eulerparameters.h *
	* AUTHORS: See Author List *
	* GRANTS: See Grants List *
	* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
	* LICENSE: Please see License Agreement *
	* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
	* ADMINISTRATOR: Prof. Kurt Anderson *
	* Computational Dynamics Lab *
	* Rensselaer Polytechnic Institute *
	* 110 8th St. Troy NY 12180 *
	* CONTACT: anderk5@rpi.edu *
	_________________________________________________________________________/

	#ifndef EULERPARAMETERS_H
	#define EULERPARAMETERS_H

	#include "colmatrix.h"
	#include "mat3x3.h"

	void EP_Derivatives(ColMatrix& q, ColMatrix& u, ColMatrix& qdot);

	void EP_Transformation(ColMatrix& q, Mat3x3& C);

	void EP_FromTransformation(ColMatrix& q, Mat3x3& C);

	void EP_Normalize(ColMatrix& q);

	void EPdotdot_udot(ColMatrix& Audot, ColMatrix& Aqdot, ColMatrix& Aq,ColMatrix& Aqddot);

	void qdot_to_u(ColMatrix& q, ColMatrix& u, ColMatrix& qdot);

	#endif