/usr/include/simbody/SimTKcommon/Orientation.h is in libsimbody-dev 3.5.4+dfsg-1ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 | //-----------------------------------------------------------------------------
// File: Orientation.h
// Class: None
// Parent: None
// Purpose: Includes UnitVec3, Quaternion, Rotation, Transform, and related classes
//-----------------------------------------------------------------------------
#ifndef SimTK_SIMMATRIX_ORIENTATION_H_
#define SimTK_SIMMATRIX_ORIENTATION_H_
/* -------------------------------------------------------------------------- *
* Simbody(tm): SimTKcommon *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2005-12 Stanford University and the Authors. *
* Authors: Michael Sherman *
* Contributors: *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
/** @file
*
* These are numerical utility classes for dealing with the relative orientations
* of geometric objects. These build on the basic arithmetic classes for small
* vectors and matrices.
*/
//-----------------------------------------------------------------------------
#include "SimTKcommon/internal/common.h"
#include "SimTKcommon/SmallMatrix.h"
#include "SimTKcommon/internal/UnitVec.h"
#include "SimTKcommon/internal/Quaternion.h"
#include "SimTKcommon/internal/Rotation.h"
#include "SimTKcommon/internal/Transform.h"
//-----------------------------------------------------------------------------
#include <iosfwd> // Forward declaration of iostream
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
// Some handy conversion constants.
// Use templatized inline conversion routines instead whenever possible.
// These are defined so that you can multiply by them. For example, if you have
// an angle qRad in radians and want to convert to degrees, write qDeg = qRad*SimTK_RTD.
// Note that the expressions here will always be evaluated at compile time, yielding
// long double results which you can cast to smaller sizes if you want.
//-----------------------------------------------------------------------------
#define SimTK_RTD (180/SimTK_PI)
#define SimTK_DTR (SimTK_PI/180)
//-----------------------------------------------------------------------------
namespace SimTK {
inline static Real convertRadiansToDegrees(const Real rad) { return rad*Real(SimTK_RTD); }
inline static Real convertDegreesToRadians(const Real deg) { return deg*Real(SimTK_DTR); }
//------------------------------------------------------------------------------
} // End of namespace SimTK
//--------------------------------------------------------------------------
#endif // SimTK_SIMMATRIX_ORIENTATION_H_
//--------------------------------------------------------------------------
|