EulerCoordinateRotation.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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    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::EulerCoordinateRotation
 
Description
    A coordinateRotation defined in the z-x-y Euler convention.
 
    The 3 rotations are defined in the Euler convention
    (around Z, around X' and around Z').
    For reference and illustration, see
    http://mathworld.wolfram.com/EulerAngles.html
    Note, however, that it is the reverse transformation
    (local->global) that is defined here.
 
    - the rotation angles are in degrees, unless otherwise explicitly specified:
 
    \verbatim
    coordinateRotation
    {
        type        EulerRotation;
        degrees     false;
        rotation    (0 0 3.141592654);
    }
    \endverbatim
 
SourceFiles
    EulerCoordinateRotation.C
 
\*---------------------------------------------------------------------------*/
 
#ifndef EulerCoordinateRotation_H
#define EulerCoordinateRotation_H
 
#include "coordinateRotation.H"
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
namespace Foam
{
 
/*---------------------------------------------------------------------------*\
                   Class EulerCoordinateRotation Declaration
\*---------------------------------------------------------------------------*/
 
class EulerCoordinateRotation
:
    public coordinateRotation
{
 
    // Private Member Data
 
        //- Local-to-global transformation tensor
        tensor R_;
 
        //- Global-to-Local transformation tensor
        tensor Rtr_;
 
 
    // Private Member Functions
 
        //- Calculate transformation tensor
        void calcTransform
        (
            const scalar phiAngle,
            const scalar thetaAngle,
            const scalar psiAngle,
            const bool inDegrees=true
        );
 
 
public:
 
    //- Runtime type information
    TypeName("EulerRotation");
 
 
    // Constructors
 
        //- Construct from dictionary
        EulerCoordinateRotation(const dictionary&);
 
        //- Construct from dictionary and list of points
        EulerCoordinateRotation(const dictionary&, const UList<vector>& points);
 
        //- Construct and return a clone
        virtual autoPtr<coordinateRotation> clone() const
        {
            return autoPtr<coordinateRotation>
            (
                new EulerCoordinateRotation(*this)
            );
        }
 
 
    // Member Functions
 
        //- Update the rotation for a list of points
        virtual void updatePoints(const UList<vector>& points)
        {}
 
        //- Return local-to-global transformation tensor
        virtual const tensor& R() const
        {
            return R_;
        }
 
        //- Return local Cartesian x-axis in global coordinates
        virtual const vector e1() const
        {
            return Rtr_.x();
        }
 
        //- Return local Cartesian y-axis in global coordinates
        virtual const vector e2() const
        {
            return Rtr_.y();
        }
 
        //- Return local Cartesian z-axis in global coordinates
        virtual const vector e3() const
        {
            return Rtr_.z();
        }
 
        //- Transform vectorField using transformation tensor field
        virtual tmp<vectorField> transform(const vectorField& vf) const;
 
        //- Transform vector using transformation tensor
        virtual vector transform(const vector& v) const;
 
        //- Inverse transform vectorField using transformation tensor field
        virtual tmp<vectorField> invTransform(const vectorField& vf) const;
 
        //- Inverse transform vector using transformation tensor
        virtual vector invTransform(const vector& v) const;
 
        //- Transform tensor field using transformation tensorField
        virtual tmp<tensorField> transform(const tensorField& tf) const;
 
        //- Transform tensor using transformation tensorField
        virtual tensor transform(const vector& p, const tensor& t) const;
 
        //- Transform diagTensor masquerading as a vector using transformation
        //  tensor and return symmTensor
        virtual symmTensor transformDiagTensor
        (
            const vector& p,
            const vector& v
        ) const;
 
        //- Transform diagTensorField masquerading as a vectorField
        //  using transformation tensorField and return symmTensorField
        virtual tmp<symmTensorField> transformDiagTensor
        (
            const vectorField& vf
        ) const;
 
 
    // Write
 
        //- Write
        virtual void write(Ostream&) const;
};
 
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
} // End namespace Foam
 
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
 
#endif
 
// ************************************************************************* //