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