text: #include "mwoibn/point_handling/torque.h"
  
  namespace mwoibn
  {
  namespace point_handling
  {
  
  
    const Point::Current&
    Torque::getWorld(bool update){
          _temp_world = frame.rotation().getWorld(update)*(_current_fixed + frame.position.getWorld(false).head<3>().cross(force.getFixed().head<3>()));
          return _temp_world;
    }
  
    // Point::Current
    // Torque::getWorld(bool update) const {
    //       return frame.rotation().getWorld(update)*(_current_fixed + frame.position.getWorld(false).head<3>().cross(force.getFixed().head<3>()));
    // }
  
    void Torque::getWorld(Point::Current& angular, bool update) const {
  
          angular.head<3>() = frame.rotation().getWorld(update)*(_current_fixed + frame.position.getWorld(false).head<3>().cross(force.getFixed().head<3>()));
          return;
    }
  
  
    void Torque::setWorld(const Point::Current& angular, bool update){
  
          _current_fixed = frame.rotation().getWorld(update).transpose()*angular - frame.position.getWorld(false).head<3>().cross(force.getFixed().head<3>());
  
    }
  
    // Point::Current
    // Torque::getReference(unsigned int reference_id, bool update) const {
    //
    //           return frame.rotation().getReference(reference_id, update)*(_current_fixed + frame.position.getReference(reference_id, false).head<3>().cross(force.getFixed().head<3>()));
    // }
  
    void Torque::getReference(Point::Current& current, unsigned int reference_id, bool update) const {
          current.head<3>()= frame.rotation().getReference(reference_id, update)*(_current_fixed + frame.position.getReference(reference_id, false).head<3>().cross(force.getFixed().head<3>()));
    }
  
    void Torque::setReference(const Point::Current& angular, unsigned int reference_id, bool update){
  
              _current_fixed = frame.rotation().getReference(reference_id, update).transpose()*angular - frame.position.getReference(reference_id, false).head<3>().cross(force.getFixed().head<3>());
    }
  
  
  } // namespace package
  } // namespace library
  