def connect(self, state, derivatives, mass):
Variable.connect(self, state, derivatives, mass)
self.state[0: 9] = self.rotation_matrix.ravel()
self.rotation_matrix = numpy.reshape(self.state[0: 9], (3,3))
self.state[9: 12] = self.translation_vector
self.translation_vector = self.state[9: 12]
self.mass[0: 9] = self.inertia_tensor.ravel()
self.inertia_tensor = numpy.reshape(self.mass[0: 9], (3,3))
self.mass[9: 12] = self.inertia_mass
self.inertia_mass = self.mass[9: 12]
def connect(self, state, derivatives, mass):
Variable.connect(self, state, derivatives, mass)
self.state[:] = self.translation_vector
self.translation_vector = self.state
self.mass[:] = self.inertia_mass
self.inertia_mass = self.mass
