public ChFrame <Real> BitShiftRight(ChFrame <Real> Fb)
{
ChFrame <Real> res = new ChFrame <Real>();
Fb.TransformLocalToParent(this, res);
return(res);
}
/// Set the auxiliary reference frame with respect to the absolute frame.
/// This moves the entire body; the body COG is rigidly moved as well.
public void SetFrame_REF_to_abs(ChFrame <double> mfra)
{
// PROBLEM need to find out why the GetInverse isn't working, I think it has something to do
// with it not being const like the c++ version? So the coord is being changed along the way?
mfra.TransformLocalToParent(this.auxref_to_cog.GetInverse(), this.BodyFrame);
// or, also, using overloaded operators for frames:
// *this = this->auxref_to_cog.GetInverse() >> mfra;
auxref_to_abs = mfra;
}