CompactSpatialTensorT.H

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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.
 
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    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::CompactSpatialTensorT
 
Description
    Templated 3D transposed compact spatial tensor derived from MatrixSpace
    used to represent transformations of spatial vectors of rigid bodies.
 
    Reference:
    \verbatim
        Featherstone, R. (2008).
        Rigid body dynamics algorithms.
        Springer.
    \endverbatim
 
SourceFiles
    CompactSpatialTensorTI.H
 
See also
    Foam::MatrixSpace
    Foam::CompactSpatialTensor
 
\*---------------------------------------------------------------------------*/
 
#ifndef CompactSpatialTensorT_H
#define CompactSpatialTensorT_H
 
#include "CompactSpatialTensor.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
namespace Foam
{
 
/*---------------------------------------------------------------------------*\
                    Class CompactSpatialTensor Declaration
\*---------------------------------------------------------------------------*/
 
template<class Cmpt>
class CompactSpatialTensorT
:
    public MatrixSpace<CompactSpatialTensorT<Cmpt>, Cmpt, 3, 6>
{
 
public:
 
    // Constructors
 
        //- Construct null
        inline CompactSpatialTensorT();
 
        inline CompactSpatialTensorT(const Foam::zero);
 
        //- Construct given MatrixSpace of the same rank
        inline CompactSpatialTensorT
        (
            const typename CompactSpatialTensorT::msType&
        );
 
        //- Construct given 18 components
        inline CompactSpatialTensorT
        (
            const Cmpt& t00, const Cmpt& t01, const Cmpt& t02,
            const Cmpt& t10, const Cmpt& t11, const Cmpt& t12,
            const Cmpt& t20, const Cmpt& t21, const Cmpt& t22,
            const Cmpt& t30, const Cmpt& t31, const Cmpt& t32,
            const Cmpt& t40, const Cmpt& t41, const Cmpt& t42,
            const Cmpt& t50, const Cmpt& t51, const Cmpt& t52
        );
 
        //- Construct from Istream
        inline CompactSpatialTensorT(Istream&);
};
 
 
template<class Cmpt>
class typeOfTranspose<Cmpt, CompactSpatialTensor<Cmpt>>
{
public:
 
    typedef CompactSpatialTensorT<Cmpt> type;
};
 
 
template<class Cmpt>
class typeOfTranspose<Cmpt, CompactSpatialTensorT<Cmpt>>
{
public:
 
    typedef CompactSpatialTensor<Cmpt> type;
};
 
 
template<class Cmpt>
class typeOfInnerProduct
<
    Cmpt,
    CompactSpatialTensor<Cmpt>,
    CompactSpatialTensorT<Cmpt>
>
{
public:
 
    typedef SpatialTensor<Cmpt> type;
};
 
 
template<class Cmpt>
class typeOfInnerProduct
<
    Cmpt,
    CompactSpatialTensorT<Cmpt>,
    CompactSpatialTensor<Cmpt>
>
{
public:
 
    typedef Tensor<Cmpt> type;
};
 
 
template<class Cmpt>
class typeOfInnerProduct
<
    Cmpt,
    CompactSpatialTensorT<Cmpt>,
    SpatialVector<Cmpt>
>
{
public:
 
    typedef Vector<Cmpt> type;
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
// Include inline implementations
#include "CompactSpatialTensorTI.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //