/usr/include/freefoam/OpenFOAM/septernion.H is in libfreefoam-dev 0.1.0+dfsg-1build1.
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========= |
\\ / F ield | OpenFOAM: The Open Source CFD Toolbox
\\ / O peration |
\\ / A nd | Copyright (C) 1991-2010 OpenCFD Ltd.
\\/ M anipulation |
-------------------------------------------------------------------------------
License
This file is part of OpenFOAM.
OpenFOAM is free software: you can redistribute it and/or modify it
under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
for more details.
You should have received a copy of the GNU General Public License
along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
Class
Foam::septernion
Description
Septernion class used to perform translations and rotations in 3D space.
It is composed of a translation vector and rotation quaternion and as
such has seven components hence the name "septernion" from the Latin to
be consistent with quaternion rather than "hepternion" derived from the
Greek.
SourceFiles
septernionI.H
septernion.C
\*---------------------------------------------------------------------------*/
#ifndef septernion_H
#define septernion_H
#include <OpenFOAM/vector.H>
#include <OpenFOAM/quaternion.H>
#include <OpenFOAM/word.H>
#include <OpenFOAM/contiguous.H>
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
namespace Foam
{
// Forward declaration of friend functions and operators
class septernion;
Istream& operator>>(Istream& is, septernion&);
Ostream& operator<<(Ostream& os, const septernion& C);
/*---------------------------------------------------------------------------*\
Class septernion Declaration
\*---------------------------------------------------------------------------*/
class septernion
{
// private data
//- Translation vector
vector t_;
//- Rotation quaternion
quaternion r_;
public:
// Static data members
static const char* const typeName;
static const septernion zero;
static const septernion I;
// Constructors
//- Construct null
inline septernion();
//- Construct given a translation vector and rotation quaternion
inline septernion(const vector& t, const quaternion& r);
//- Construct a pure translation septernion given a translation vector
inline explicit septernion(const vector& t);
//- Construct a pure rotation septernion given a rotation quaternion
inline explicit septernion(const quaternion& r);
//- Construct from Istream
septernion(Istream&);
// Member functions
// Access
inline const vector& t() const;
inline const quaternion& r() const;
// Edit
inline vector& t();
inline quaternion& r();
// Transform
//- Transform the given vector
inline vector transform(const vector& v) const;
//- Inverse Transform the given vector
inline vector invTransform(const vector& v) const;
// Member operators
inline void operator=(const septernion&);
inline void operator*=(const septernion&);
inline void operator=(const vector&);
inline void operator+=(const vector&);
inline void operator-=(const vector&);
inline void operator=(const quaternion&);
inline void operator*=(const quaternion&);
inline void operator/=(const quaternion&);
inline void operator*=(const scalar);
inline void operator/=(const scalar);
// IOstream operators
friend Istream& operator>>(Istream& is, septernion&);
friend Ostream& operator<<(Ostream& os, const septernion& C);
};
// * * * * * * * * * * * * * * * Global Functions * * * * * * * * * * * * * //
//- Return the inverse of the given septernion
inline septernion inv(const septernion& tr);
//- Return a string representation of a septernion
word name(const septernion&);
//- Data associated with septernion type are contiguous
template<>
inline bool contiguous<septernion>() {return true;}
// * * * * * * * * * * * * * * * Global Operators * * * * * * * * * * * * * //
inline bool operator==(const septernion& tr1, const septernion& tr2);
inline bool operator!=(const septernion& tr1, const septernion& tr2);
inline septernion operator+(const septernion& tr, const vector& t);
inline septernion operator+(const vector& t, const septernion& tr);
inline septernion operator-(const septernion& tr, const vector& t);
inline septernion operator*(const quaternion& r, const septernion& tr);
inline septernion operator*(const septernion& tr, const quaternion& r);
inline septernion operator/(const septernion& tr, const quaternion& r);
inline septernion operator*(const septernion& q1, const septernion& q2);
inline septernion operator/(const septernion& q1, const septernion& q2);
inline septernion operator*(const scalar s, const septernion& tr);
inline septernion operator*(const septernion& tr, const scalar s);
inline septernion operator/(const septernion& tr, const scalar s);
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
} // End namespace Foam
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#include <OpenFOAM/septernionI.H>
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
#endif
// ************************ vim: set sw=4 sts=4 et: ************************ //
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