eulerparameters.h
d114fa1315a1efficient_neuronet

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