/**
* icpGetMat_from_S+ icpGetMat_from_Q
* @param i_val
*/
public void setDeltaS(DeltaS i_val)
{
Q q2 = this.__q2;
q2.setS(i_val);
double cra, one_cra, sra;
cra = Math.Cos(q2.q3);
one_cra = 1.0 - cra;
sra = Math.Sin(q2.q3);
this.m00 = q2.q0 * q2.q0 * one_cra + cra;
this.m01 = q2.q0 * q2.q1 * one_cra - q2.q2 * sra;
this.m02 = q2.q0 * q2.q2 * one_cra + q2.q1 * sra;
this.m03 = q2.q4;
this.m10 = q2.q1 * q2.q0 * one_cra + q2.q2 * sra;
this.m11 = q2.q1 * q2.q1 * one_cra + cra;
this.m12 = q2.q1 * q2.q2 * one_cra - q2.q0 * sra;
this.m13 = q2.q5;
this.m20 = q2.q2 * q2.q0 * one_cra - q2.q1 * sra;
this.m21 = q2.q2 * q2.q1 * one_cra + q2.q0 * sra;
this.m22 = q2.q2 * q2.q2 * one_cra + cra;
this.m23 = q2.q6;
return;
}
/**
* icpGetQ_from_S関数です。
* @param i_val
*/
public void setS(DeltaS i_val)
{
double ra = i_val.s0 * i_val.s0 + i_val.s1 * i_val.s1 + i_val.s2 * i_val.s2;
if (ra == 0.0)
{
this.q0 = 1.0;
this.q1 = 0.0;
this.q2 = 0.0;
this.q3 = 0.0;
}
else
{
ra = Math.Sqrt(ra);
this.q0 = i_val.s0 / ra;
this.q1 = i_val.s1 / ra;
this.q2 = i_val.s2 / ra;
this.q3 = ra;
}
this.q4 = i_val.s3;
this.q5 = i_val.s4;
this.q6 = i_val.s5;
return;
}
