fix two transpose
@@ -292,13 +292,13 @@ def def_rot_axis_FoR_wrt_node(MB_tstep, MB_beam, FoR_body, node_body, node_numbe
LM_C[FoR_dof+3:FoR_dof+6,FoR_dof+6:FoR_dof+10] += algebra.der_CquatT_by_v(MB_tstep[FoR_body].quat,
algebra.multiply_matrices(algebra.quat2rotation(MB_tstep[node_body].quat),
- algebra.crv2rotation(MB_tstep[node_body].psi[ielem,inode_in_elem,:]).T,
+ algebra.crv2rotation(MB_tstep[node_body].psi[ielem,inode_in_elem,:]),
algebra.skew(rot_axisB).T,
new_Lambda_dot))
LM_K[FoR_dof+3:FoR_dof+6,node_dof+3:node_dof+6] += algebra.multiply_matrices(algebra.quat2rotation(MB_tstep[FoR_body].quat).T,
algebra.quat2rotation(MB_tstep[node_body].quat),
- algebra.der_Ccrv_by_v(MB_tstep[node_body].psi[ielem,inode_in_elem,:],
+ algebra.der_CcrvT_by_v(MB_tstep[node_body].psi[ielem,inode_in_elem,:],
np.dot(algebra.skew(rot_axisB).T,
new_Lambda_dot)))
