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class RRPCGravityStiffness : public RRPerformanceCriteria

The vector gravity should be a unit vector3 in a spatial situation, however in order to properly compare the largest eigenvector to the generalized unit force vector, it needs to be of the dimension of the output (6 spatially).

Since gravity is constant and the gravity vector will rarely be anything but (0,0,1,0,0,0), it is set to this in the constructor. Which means the application must use a method to change this if necessary. In a case where the noOutputs is less than six, then the criteria only looks at the first n elements of the gravity vector. So care should be used to ensure that the proper elements are used.

#include "PCGravityStiffness.h"