Project Chrono: chrono::ChStarMatrix44< Real > Class Template Reference

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chrono::ChStarMatrix44< Real > Class Template Reference
Chrono::Engine » Linear algebra

## Description

template<typename Real = double>
class chrono::ChStarMatrix44< Real >

Special MBD 4x4 "star" matrix, representing quaternion cross product.

That is, given two quaternions a and b, a x b= [Astar] * b

`#include <ChMatrixMBD.h>`

## Public Member Functions
| ChStarMatrix44 (const ChQuaternion< Real > &q)
| Constructor from a given quaternion.
void | semiTranspose ()
| Transposes only the lower-right 3x3 submatrix of a hemisymmetric 4x4 matrix, used when the 4x4 matrix is a "star" matrix [q] coming from a quaternion q: the non commutative quaternion product is: q1 x q2 = [q1]*q2 = [q2st]*q1 where [q2st] is the "semi-transpose" of [q2].
void | semiNegate ()
| Change the sign of the 2nd, 3rd and 4th columns of this matrix.

## Member Function Documentation

## ◆ semiNegate()

template<typename Real = double>

void chrono::ChStarMatrix44< Real >::semiNegate | ( |  | ) |
| inline

Change the sign of the 2nd, 3rd and 4th columns of this matrix.

The product between a quaternion q1 and the conjugate of q2 (q2'), is: q1 x q2' = [q1]*q2' = [q1sn]*q2 where [q1sn] is the semi-negation of the 4x4 matrix [q1].

The documentation for this class was generated from the following file:

- D:/W/B/src/chrono-9.0.1/src/chrono/core/ChMatrixMBD.h