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@ -123,9 +123,9 @@ std::valarray<double> EulerOdeSolver::f(
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ypr[2] = -(B-A)/C * omega_body[0] * omega_body[1]; // r'
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ypr[2] = -(B-A)/C * omega_body[0] * omega_body[1]; // r'
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// e1', e2', e3'
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// e1', e2', e3'
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ypr[std::slice(3,3,1)] = vec3<double>::crossprod(omega, e1);
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ypr[std::slice(3,3,1)] = std::valarray<double>(vec3<double>::crossprod(omega, e1));
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ypr[std::slice(6,3,1)] = vec3<double>::crossprod(omega, e2);
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ypr[std::slice(6,3,1)] = std::valarray<double>(vec3<double>::crossprod(omega, e2));
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ypr[std::slice(9,3,1)] = vec3<double>::crossprod(omega, e3);
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ypr[std::slice(9,3,1)] = std::valarray<double>(vec3<double>::crossprod(omega, e3));
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return ypr;
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return ypr;
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}
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}
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@ -529,15 +529,17 @@ void KRotationSaver::initData()
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e3_body.rotate(-m_initEulerTheta*e1_body);
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e3_body.rotate(-m_initEulerTheta*e1_body);
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// omega_body = L_body * J_body^(-1)
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// omega_body = L_body * J_body^(-1)
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vec3<double> omega_body = e3_body * m_Lz;
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vec3<double> omega_body = e3_body * m_Lz;
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omega_body /= J;
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std::valarray<double> &omega_body_ = omega_body;
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std::valarray<double> &J_ = J;
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omega_body_ /= J_;
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// assemble initial y for solver
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// assemble initial y for solver
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std::valarray<double> y(12);
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std::valarray<double> y(12);
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y[std::slice(0,3,1)] = omega_body;
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y[std::slice(0,3,1)] = std::valarray<double>(omega_body);
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// 3 basis vectors of body system in fixed coordinates
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// 3 basis vectors of body system in fixed coordinates
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y[std::slice(3,3,1)] = e1t;
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y[std::slice(3,3,1)] = std::valarray<double>(e1t);
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y[std::slice(6,3,1)] = e2t;
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y[std::slice(6,3,1)] = std::valarray<double>(e2t);
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y[std::slice(9,3,1)] = e3t;
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y[std::slice(9,3,1)] = std::valarray<double>(e3t);
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// initial rotation vector
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// initial rotation vector
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omega
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omega
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